A survey on active simultaneous localization and mapping: State of the art and new frontiers
Active simultaneous localization and mapping (SLAM) is the problem of planning and
controlling the motion of a robot to build the most accurate and complete model of the …
controlling the motion of a robot to build the most accurate and complete model of the …
Beyond robustness: A taxonomy of approaches towards resilient multi-robot systems
Robustness is key to engineering, automation, and science as a whole. However, the
property of robustness is often underpinned by costly requirements such as over …
property of robustness is often underpinned by costly requirements such as over …
Sayplan: Grounding large language models using 3d scene graphs for scalable task planning
Large language models (LLMs) have demonstrated impressive results in developing
generalist planning agents for diverse tasks. However, grounding these plans in expansive …
generalist planning agents for diverse tasks. However, grounding these plans in expansive …
Hydra: A real-time spatial perception system for 3D scene graph construction and optimization
3D scene graphs have recently emerged as a powerful high-level representation of 3D
environments. A 3D scene graph describes the environment as a layered graph where …
environments. A 3D scene graph describes the environment as a layered graph where …
Sayplan: Grounding large language models using 3d scene graphs for scalable robot task planning
Large language models (LLMs) have demonstrated impressive results in developing
generalist planning agents for diverse tasks. However, grounding these plans in expansive …
generalist planning agents for diverse tasks. However, grounding these plans in expansive …
Foundations of spatial perception for robotics: Hierarchical representations and real-time systems
3D spatial perception is the problem of building and maintaining an actionable and
persistent representation of the environment in real-time using sensor data and prior …
persistent representation of the environment in real-time using sensor data and prior …
Taskography: Evaluating robot task planning over large 3d scene graphs
Abstract 3D scene graphs (3DSGs) are an emerging description; unifying symbolic,
topological, and metric scene representations. However, typical 3DSGs contain hundreds of …
topological, and metric scene representations. However, typical 3DSGs contain hundreds of …
Is-ggt: Iterative scene graph generation with generative transformers
Scene graphs provide a rich, structured representation of a scene by encoding the entities
(objects) and their spatial relationships in a graphical format. This representation has proven …
(objects) and their spatial relationships in a graphical format. This representation has proven …
Modeling dynamic environments with scene graph memory
Embodied AI agents that search for objects in large environments such as households often
need to make efficient decisions by predicting object locations based on partial information …
need to make efficient decisions by predicting object locations based on partial information …
Sgaligner: 3d scene alignment with scene graphs
Building 3D scene graphs has recently emerged as a topic in scene representation for
several embodied AI applications to represent the world in a structured and rich manner …
several embodied AI applications to represent the world in a structured and rich manner …