2 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…