ドメイン条件付きシーングラフによる状態接地型タスクプランニング
Domain-Conditioned Scene Graphs for State-Grounded Task Planning
ドメイン特化のシーングラフをシーン表現として用いることで、LMMベースの手法より高精度に状態を接地し、タスクプランニングの成功率を向上させた。
著者: Jonas Herzog, Jiangpin Liu, Yue Wang
分類: cs.RO
原文アブストラクト
Recent robotic task planning frameworks have integrated large multimodal models (LMMs) such as GPT-4o. To address grounding issues of such models, it has been suggested to split the pipeline into perceptional state grounding and subsequent state-based planning. As we show in this work, the state grounding ability of LMM-based approaches is still limited by weaknesses in granular, structured, domain-specific scene understanding. To address this shortcoming, we develop a more structured state grounding framework that features a domain-conditioned scene graph as its scene representation. We show that such representation is actionable in nature as it is directly mappable to a symbolic state in planning languages such as the Planning Domain Definition Language (PDDL). We provide an instantiation of our state grounding framework where the domain-conditioned scene graph generation is implemented with a lightweight vision-language approach that classifies domain-specific predicates on top of domain-relevant object detections. Evaluated across three domains, our approach achieves significantly higher state rounding accuracy and task planning success rates compared to LMM-based approaches.
