SAGE-Nav decouples LLM global planning from reactive control via hierarchical scene graphs and alignment fusion, reporting SOTA results on i-THOR and RoboTHOR with improved efficiency and zero-shot generalization.
Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs
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cs.RO 2years
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UNVERDICTED 2representative citing papers
A survey that formalizes 3D Scene Graphs under a common definition, analyzes modeling choices, reviews construction from sensory data, examines applications and evaluations, and highlights open challenges with a supporting website.
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SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation
SAGE-Nav decouples LLM global planning from reactive control via hierarchical scene graphs and alignment fusion, reporting SOTA results on i-THOR and RoboTHOR with improved efficiency and zero-shot generalization.
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3D Scene Graphs: Open Challenges and Future Directions
A survey that formalizes 3D Scene Graphs under a common definition, analyzes modeling choices, reviews construction from sensory data, examines applications and evaluations, and highlights open challenges with a supporting website.