HERO: 移動可能障害物を考慮した階層的走行可能3Dシーングラフによる身体性ナビゲーション
HERO: Hierarchical Traversable 3D Scene Graphs for Embodied Navigation Among Movable Obstacles
操作可能な障害物を通路として扱う階層的3Dシーングラフを構築し、障害物のある環境でのナビゲーション効率と到達性を大幅に改善した。
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著者: Yunheng Wang, Yixiao Feng, Yuetong Fang, Shuning Zhang, Tan Jing, Jian Li, Xiangrui Jiang, Renjing Xu
分類: cs.RO, cs.AI, cs.CL, cs.CV
原文アブストラクト
3D Scene Graphs (3DSGs) constitute a powerful representation of the physical world, distinguished by their abilities to explicitly model the complex spatial, semantic, and functional relationships between entities, rendering a foundational understanding that enables agents to interact intelligently with their environment and execute versatile behaviors. Embodied navigation, as a crucial component of such capabilities, leverages the compact and expressive nature of 3DSGs to enable long-horizon reasoning and planning in complex, large-scale environments. However, prior works rely on a static-world assumption, defining traversable space solely based on static spatial layouts and thereby treating interactable obstacles as non-traversable. This fundamental limitation severely undermines their effectiveness in real-world scenarios, leading to limited reachability, low efficiency, and inferior extensibility. To address these issues, we propose HERO, a novel framework for constructing Hierarchical Traversable 3DSGs, that redefines traversability by modeling operable obstacles as pathways, capturing their physical interactivity, functional semantics, and the scene's relational hierarchy. The results show that, relative to its baseline, HERO reduces PL by 35.1% in partially obstructed environments and increases SR by 79.4% in fully obstructed ones, demonstrating substantially higher efficiency and reachability.
