3 papers
cs.CV2025
Structured Interfaces for Automated Reasoning with 3D Scene Graphs
Aaron Ray, Jacob Arkin, Harel Biggie +3
In order to provide a robot with the ability to understand and react to a user's natural language inputs, the natural language must be connected to the robot's underlying represent…
cs.RO2025
Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs
Jared Strader, Aaron Ray, Jacob Arkin +11
In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructio…
cs.RO2024
Task and Motion Planning in Hierarchical 3D Scene Graphs
Aaron Ray, Christopher Bradley, Luca Carlone +1
Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models c…