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cs.RO2026
SG-AMP: Scene-Graph-Guided Active Perception and Semantics-Aware Motion Planning for Pepper Plants
Rohit Menon, Shiva Rudra Lolla, Niklas Mueller-Goldingen +3
We present SG-AMP, integrating robust depth completion with input-conditioned uncertainty, persistent panoptic mapping, plant scene-graph reasoning, and semantics-aware active view…
cs.RO2026
SG-DOR: Learning Scene Graphs with Direction-Conditioned Occlusion Reasoning for Pepper Plants
Rohit Menon, Niklas Mueller-Goldingen, Sicong Pan +2
Robotic harvesting in dense crop canopies requires effective interventions that depend not only on geometry, but also on explicit, direction-conditioned relations identifying which…