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Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world.
Learning to search in task and motion planning with streams
Mohamed Khodeir, Ben Agro, and Florian Shkurti · 1990
Earlier work this paper cites.
The downward refinement property
Fahiem Bacchus and Qiang Yang · 1991
Earlier work this paper cites.
Fast planning through planning graph analysis
Avrim L Blum and Merrick L Furst · 1997
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Rapidly-exploring random trees: A new tool for path planning
Steven LaValle · 1998
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Ff: The fast-forward planning system
Jörg Hoffmann · 2001
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The fast downward planning system
Malte Helmert · 2006
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Planning algorithms
Steven M LaValle · 2006
Earlier work this paper cites.
Combined task and motion planning through an extensible planner-independent interface layer
Siddharth Srivastava, Eugene Fang, Lorenzo Riano, Rohan Chitnis, Stuart Russell, and Pieter Abbeel · 2014
Earlier work this paper cites.
Automated planning and acting
Malik Ghallab, Dana Nau, and Paolo Traverso · 2016
Earlier work this paper cites.
Sparse 3D topological graphs for micro-aerial vehicle planning
Helen Oleynikova, Zachary Taylor, Roland Siegwart, and Juan Nieto · 2018
Earlier work this paper cites.
3D scene graph: A structure for unified semantics, 3D space, and camera
Iro Armeni, Zhi-Yang He, JunYoung Gwak, Amir R Zamir, Martin Fischer, Jitendra Malik, and Silvio Savarese · 2019
Cited alongside, same era.
PDDLstream: Integrating symbolic planners and blackbox samplers via optimistic adaptive planning
Caelan Reed Garrett, Tomás Lozano-Pérez, and Leslie Pack Kaelbling · 2020
Cited alongside, same era.
Automated planning for robotics
Erez Karpas and Daniele Magazzeni · 2020
Cited alongside, same era.
Task and motion planning is PSPACE-complete
William Vega-Brown and Nicholas Roy · 2020
Cited alongside, same era.
Integrated task and motion planning
Caelan Reed Garrett, Rohan Chitnis, Rachel Holladay, Beomjoon Kim, Tom Silver, Leslie Pack Kaelbling, and Tomás Lozano-Pérez · 2021
Cited alongside, same era.
Kimera: From slam to spatial perception with 3D dynamic scene graphs
Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, and Luca Carlone · 2021
Task scoping: Generating task-specific simplifications of open-scope planning problems
Michael Fishman, Nishanth Kumar, Cameron Allen, Natasha Danas, Michael Littman, Stefanie Tellex, and George Konidaris · 2023
Later among the works it cites.
Learning feasibility and cost to guide tamp
Christopher Bradley and Nicholas Roy · 2024
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Optimal scene graph planning with large language model guidance
Zhirui Dai, Arash Asgharivaskasi, Thai Duong, Shusen Lin, Maria-Elizabeth Tzes, George Pappas, and Nikolay Atanasov · 2024
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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, and Liam Paull · 2024
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Foundations of spatial perception for robotics: Hierarchical representations and real-time systems
Nathan Hughes, Yun Chang, Siyi Hu, Rajat Talak, Rumaisa Abdulhai, Jared Strader, and Luca Carlone · 2024
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Cited alongside, same era.
Planning with learned object importance in large problem instances using graph neural networks
Tom Silver, Rohan Chitnis, Aidan Curtis, Joshua B Tenenbaum, Tomás Lozano-Pérez, and Leslie Pack Kaelbling · 2021
Cited alongside, same era.
Scenegraphfusion: Incremental 3D scene graph prediction from RGB-D sequences
Shun-Cheng Wu, Johanna Wald, Keisuke Tateno, Nassir Navab, and Federico Tombari · 2021
Cited alongside, same era.
Taskography: Evaluating robot task planning over large 3D scene graphs
Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir, Ondrej Miksik, Vibhav Vineet, Mustafa Mukadam, Liam Paull, and Florian Shkurti · 2022
Cited alongside, same era.
S-graphs+: Real-time localization and mapping leveraging hierarchical representations
Hriday Bavle, Jose Luis Sanchez-Lopez, Muhammad Shaheer, Javier Civera, and Holger Voos · 2023
Cited alongside, same era.
Policy-guided lazy search with feedback for task and motion planning
Mohamed Khodeir, Atharv Sonwane, Ruthrash Hari, and Florian Shkurti
Cited in the paper.
Clio: Real-time task-driven open-set 3D scene graphs
Dominic Maggio, Yun Chang, Nathan Hughes, Matthew Trang, Dan Griffith, Carlyn Dougherty, Eric Cristofalo, Lukas Schmid, and Luca Carlone · 2024
Closest in time.
Indoor and outdoor 3D scene graph generation via language-enabled spatial ontologies
Jared Strader, Nathan Hughes, William Chen, Alberto Speranzon, and Luca Carlone · 2024
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COAST: COnstraints And STreams for task and motion planning
Brandon Vu, Toki Migimatsu, and Jeannette Bohg · 2024
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Hierarchical open-vocabulary 3D scene graphs for language-grounded robot navigation
Abdelrhman Werby, Chenguang Huang, Martin Büchner, Abhinav Valada, and Wolfram Burgard · 2024
Closest in time.