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SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Task Planning
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SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning Krishan Rana 1 , Jesse Haviland* 1,3 , Sourav Garg* 2 , Jad Abou-Chakra* 1 , Ian Reid 2 , Niko Suenderhauf 1 , 1 QUT Centre for Robotics 2 University of Adelaide 3 CSIRO Data61 *Equal Contribution arXiv Video Thread 📌 Conference on Robot Learning (CoRL), 2023 (Oral Talk) 📌 Robotics: Science and Systems (RSS) Robot Representations For Scene Understanding, Reasoning and Planning, 2023 (Oral Talk) SayPlan scales the grounding of task plans generated by large language models to multi-room and multi-floor environments using 3D scene graph representations. Abstract Large language models (LLMs) have demonstrated impressive results in developing generalist planning agents for diverse tasks. However, grounding these plans in e...
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