7 papers
DISC: Dense Integrated Semantic Context for Large-Scale Open-Set Semantic Mapping
Felix Igelbrink, Lennart Niecksch, Martin Atzmueller +1
Open-set semantic mapping enables language-driven robotic perception, but current instance-centric approaches are bottlenecked by context-depriving and computationally expensive cr…
Agentic AI for Robot Control: Flexible but still Fragile
Oscar Lima, Marc Vinci, Martin Günther +10
Recent work leverages the capabilities and commonsense priors of generative models for robot control. In this paper, we present an agentic control system in which a reasoning-capab…
A Scene Graph Backed Approach to Open Set Semantic Mapping
Martin Günther, Felix Igelbrink, Oscar Lima +3
While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in…
LIEREx: Language-Image Embeddings for Robotic Exploration
Felix Igelbrink, Lennart Niecksch, Marian Renz +2
Semantic maps allow a robot to reason about its surroundings to fulfill tasks such as navigating known environments, finding specific objects, and exploring unmapped areas. Traditi…
ExPrIS: Knowledge-Level Expectations as Priors for Object Interpretation from Sensor Data
Marian Renz, Martin Günther, Felix Igelbrink +2
While deep learning has significantly advanced robotic object recognition, purely data-driven approaches often lack semantic consistency and fail to leverage valuable, pre-existing…
Integrating Prior Observations for Incremental 3D Scene Graph Prediction
Marian Renz, Felix Igelbrink, Martin Atzmueller
3D semantic scene graphs (3DSSG) provide compact structured representations of environments by explicitly modeling objects, attributes, and relationships. While 3DSSGs have shown p…