SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphs
Guangyao Zhai,Xiaoni Cai,Dianye Huang,Yan Di,Fabian Manhardt,Federico Tombari,Nassir Navab,Benjamin Busam,Guangyao Zhai,Xiaoni Cai,Dianye Huang,Yan Di,Fabian Manhardt,Federico Tombari,Nassir Navab,Benjamin Busam
Object rearrangement is pivotal in robotic-environment interactions, representing a significant capability in embodied AI. In this paper, we present SG-Bot, a novel rearrangement framework that utilizes a coarse-to-fine scheme with a scene graph as the scene representation. Unlike previous methods that rely on either known goal priors or zero-shot large models, SG-Bot exemplifies lightweight, real...
