RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation

• URL: http://arxiv.org/abs/2402.15487v2
• Date: Tue, 08 Oct 2024 05:32:25 GMT
• Title: RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation
• Authors: Hanxiao Jiang, Binghao Huang, Ruihai Wu, Zhuoran Li, Shubham Garg, Hooshang Nayyeri, Shenlong Wang, Yunzhu Li,
• Abstract summary: We introduce the novel task of interactive scene exploration, wherein robots autonomously explore environments and produce an action-conditioned scene graph (ACSG) The ACSG accounts for both low-level information (geometry and semantics) and high-level information (action-conditioned relationships between different entities) in the scene. We present the Robotic Exploration (RoboEXP) system, which incorporates the Large Multimodal Model (LMM) and an explicit memory design to enhance our system's capabilities.
• Score: 21.387160107315797
• License:
• Abstract: We introduce the novel task of interactive scene exploration, wherein robots autonomously explore environments and produce an action-conditioned scene graph (ACSG) that captures the structure of the underlying environment. The ACSG accounts for both low-level information (geometry and semantics) and high-level information (action-conditioned relationships between different entities) in the scene. To this end, we present the Robotic Exploration (RoboEXP) system, which incorporates the Large Multimodal Model (LMM) and an explicit memory design to enhance our system's capabilities. The robot reasons about what and how to explore an object, accumulating new information through the interaction process and incrementally constructing the ACSG. Leveraging the constructed ACSG, we illustrate the effectiveness and efficiency of our RoboEXP system in facilitating a wide range of real-world manipulation tasks involving rigid, articulated objects, nested objects, and deformable objects.

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