  We consider the problem of building an assistive robotic system that can help
humans in daily household cleanup tasks. Creating such an autonomous system in
real-world environments is inherently quite challenging, as a general solution
may not suit the preferences of a particular customer. Moreover, such a system
consists of multi-objective tasks comprising -- (i) Detection of misplaced
objects and prediction of their potentially correct placements, (ii)
Fine-grained manipulation for stable object grasping, and (iii) Room-to-room
navigation for transferring objects in unseen environments. This work
systematically tackles each component and integrates them into a complete
object rearrangement pipeline. To validate our proposed system, we conduct
multiple experiments on a real robotic platform involving multi-room object
transfer, user preference-based placement, and complex pick-and-place tasks.
Project page: https://sites.google.com/eng.ucsd.edu/home-robot
