MesaTask: Towards Task-Driven Tabletop Scene Generation via 3D Spatial
  Reasoning
Authors: name: Jinkun Hao; name: Naifu Liang; name: Zhen Luo; name: Xudong Xu; name: Weipeng Zhong; name: Ran Yi; name: Yichen Jin; name: Zhaoyang Lyu; name: Feng Zheng; name: Lizhuang Ma; name: Jiangmiao Pang
Published: 2025-09-26 12:46:00

Abstract: The ability of robots to interpret human instructions and execute
manipulation tasks necessitates the availability of task-relevant tabletop
scenes for training. However, traditional methods for creating these scenes
rely on time-consuming manual layout design or purely randomized layouts, which
are limited in terms of plausibility or alignment with the tasks. In this
paper, we formulate a novel task, namely task-oriented tabletop scene
generation, which poses significant challenges due to the substantial gap
between high-level task instructions and the tabletop scenes. To support
research on such a challenging task, we introduce MesaTask-10K, a large-scale
dataset comprising approximately 10,700 synthetic tabletop scenes with manually
crafted layouts that ensure realistic layouts and intricate inter-object
relations. To bridge the gap between tasks and scenes, we propose a Spatial
Reasoning Chain that decomposes the generation process into object inference,
spatial interrelation reasoning, and scene graph construction for the final 3D
layout. We present MesaTask, an LLM-based framework that utilizes this
reasoning chain and is further enhanced with DPO algorithms to generate
physically plausible tabletop scenes that align well with given task
descriptions. Exhaustive experiments demonstrate the superior performance of
MesaTask compared to baselines in generating task-conforming tabletop scenes
with realistic layouts. Project page is at https://mesatask.github.io/