Yes, you can wear them back to your room and housekeeping will take them. They are plain white, not so fluffy, and almost non absorbant towels. We bring our own so we can wear those back to the room. The hotels are a little chilly after you swim.
My experience has been that they have towels at the pool but they are not beach towels. We always pack beach towels to use at the pool or water parks. The towels at the pools are (I believe) the same as the the hotels you get in your room.
The pool towels are smaller than beach towels. They are white and not fluffy at all. There are plenty for using at the pool but you aren't supposed to take a bunch back to your room. There is a towel return also at the pool for wet towels. If you have room for your own you may to bring them.
We still bring a few of our own beach towels from home. We use the resort pool towels to dry off with and use our own beach towels to lay on the pool chairs and to cover up with when we walk back to our room.