ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning
Qiao Gu,Ali Kuwajerwala,Sacha Morin,Krishna Murthy Jatavallabhula,Bipasha Sen,Aditya Agarwal,Corban Rivera,William Paul,Kirsty Ellis,Rama Chellappa,Chuang Gan,Celso Miguel de Melo,Joshua B. Tenenbaum,Antonio Torralba,Florian Shkurti,Liam Paull,Qiao Gu,Ali Kuwajerwala,Sacha Morin,Krishna Murthy Jatavallabhula,Bipasha Sen,Aditya Agarwal,Corban Rivera,William Paul,Kirsty Ellis,Rama Chellappa,Chuang Gan,Celso Miguel de Melo,Joshua B. Tenenbaum,Antonio Torralba,Florian Shkurti,Liam Paull
For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features from large vision-language models to encode semantics in 3D representations. However, these approaches tend to produce maps with per-point feature vectors, whi...
