SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphs

arXiv:2309.12188v2 Announce Type: replace-cross
Abstract: 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-time, and user-controllable characteristics, seamlessly blending the consideration of commonsense knowledge with automatic generation capabilities. SG-Bot employs a three-fold procedure--observation, imagination, …

abstract arxiv bot capability cs.cv cs.ro embodied embodied ai environment framework graph graphs imagination interactions novel object paper pivotal representation robotic type via