{"id":"https://openalex.org/W4413917118","doi":"https://doi.org/10.1109/icra55743.2025.11128059","title":"Beyond Bare Queries: Open-Vocabulary Object Grounding with 3D Scene Graph","display_name":"Beyond Bare Queries: Open-Vocabulary Object Grounding with 3D Scene Graph","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917118","doi":"https://doi.org/10.1109/icra55743.2025.11128059"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128059","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076620129","display_name":"Sergey Linok","orcid":"https://orcid.org/0000-0002-8288-8335"},"institutions":[{"id":"https://openalex.org/I153845743","display_name":"Moscow Institute of Physics and Technology","ror":"https://ror.org/00v0z9322","country_code":"RU","type":"education","lineage":["https://openalex.org/I153845743"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Sergey Linok","raw_affiliation_strings":["Center for Cognitive Modeling, Moscow Institute of Physics and Technology,Dolgoprudny,Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Cognitive Modeling, Moscow Institute of Physics and Technology,Dolgoprudny,Russia","institution_ids":["https://openalex.org/I153845743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058209276","display_name":"Tatiana Zemskova","orcid":"https://orcid.org/0000-0003-4271-7336"},"institutions":[{"id":"https://openalex.org/I153845743","display_name":"Moscow Institute of Physics and Technology","ror":"https://ror.org/00v0z9322","country_code":"RU","type":"education","lineage":["https://openalex.org/I153845743"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Tatiana Zemskova","raw_affiliation_strings":["Center for Cognitive Modeling, Moscow Institute of Physics and Technology,Dolgoprudny,Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Cognitive Modeling, Moscow Institute of Physics and Technology,Dolgoprudny,Russia","institution_ids":["https://openalex.org/I153845743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5099111518","display_name":"Svetlana Ladanova","orcid":null},"institutions":[{"id":"https://openalex.org/I153845743","display_name":"Moscow Institute of Physics and Technology","ror":"https://ror.org/00v0z9322","country_code":"RU","type":"education","lineage":["https://openalex.org/I153845743"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Svetlana Ladanova","raw_affiliation_strings":["Center for Cognitive Modeling, Moscow Institute of Physics and Technology,Dolgoprudny,Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Cognitive Modeling, Moscow Institute of Physics and Technology,Dolgoprudny,Russia","institution_ids":["https://openalex.org/I153845743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092368339","display_name":"Roman Titkov","orcid":"https://orcid.org/0009-0003-8579-3600"},"institutions":[{"id":"https://openalex.org/I153845743","display_name":"Moscow Institute of Physics and Technology","ror":"https://ror.org/00v0z9322","country_code":"RU","type":"education","lineage":["https://openalex.org/I153845743"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Roman Titkov","raw_affiliation_strings":["Center for Cognitive Modeling, Moscow Institute of Physics and Technology,Dolgoprudny,Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Cognitive Modeling, Moscow Institute of Physics and Technology,Dolgoprudny,Russia","institution_ids":["https://openalex.org/I153845743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025655729","display_name":"Dmitry Yudin","orcid":"https://orcid.org/0000-0002-1407-2633"},"institutions":[{"id":"https://openalex.org/I153845743","display_name":"Moscow Institute of Physics and Technology","ror":"https://ror.org/00v0z9322","country_code":"RU","type":"education","lineage":["https://openalex.org/I153845743"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dmitry Yudin","raw_affiliation_strings":["Center for Cognitive Modeling, Moscow Institute of Physics and Technology,Dolgoprudny,Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Cognitive Modeling, Moscow Institute of Physics and Technology,Dolgoprudny,Russia","institution_ids":["https://openalex.org/I153845743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119514302","display_name":"Maxim Monastyrny","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116317","display_name":"Russian State Scientific Center for Robotics and Technical Cybernetics","ror":"https://ror.org/02dkph265","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210116317"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Maxim Monastyrny","raw_affiliation_strings":["Sberbank of Russia, Robotics Center,Moscow,Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sberbank of Russia, Robotics Center,Moscow,Russia","institution_ids":["https://openalex.org/I4210116317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5119514303","display_name":"Aleksei Valenkov","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116317","display_name":"Russian State Scientific Center for Robotics and Technical Cybernetics","ror":"https://ror.org/02dkph265","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210116317"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Aleksei Valenkov","raw_affiliation_strings":["Sberbank of Russia, Robotics Center,Moscow,Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sberbank of Russia, Robotics Center,Moscow,Russia","institution_ids":["https://openalex.org/I4210116317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.2844,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98466763,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"13582","last_page":"13589"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7546820044517517},{"id":"https://openalex.org/keywords/vocabulary","display_name":"Vocabulary","score":0.6578819155693054},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5815226435661316},{"id":"https://openalex.org/keywords/ground","display_name":"Ground","score":0.5648447275161743},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5604121685028076},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4258957505226135},{"id":"https://openalex.org/keywords/information-retrieval","display_name":"Information retrieval","score":0.3804493844509125},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.25711697340011597},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.08769986033439636},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07969638705253601},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.0717867910861969}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7546820044517517},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.6578819155693054},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5815226435661316},{"id":"https://openalex.org/C168993435","wikidata":"https://www.wikidata.org/wiki/Q6501125","display_name":"Ground","level":2,"score":0.5648447275161743},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5604121685028076},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4258957505226135},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.3804493844509125},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.25711697340011597},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.08769986033439636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07969638705253601},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0717867910861969},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128059","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W2594519801","https://openalex.org/W2967353954","https://openalex.org/W2990129662","https://openalex.org/W3035154952","https://openalex.org/W3043971245","https://openalex.org/W3095974555","https://openalex.org/W3107521863","https://openalex.org/W3203949114","https://openalex.org/W4206996644","https://openalex.org/W4283332944","https://openalex.org/W4312629998","https://openalex.org/W4312871721","https://openalex.org/W4385431115","https://openalex.org/W4386065742","https://openalex.org/W4386071707","https://openalex.org/W4386075724","https://openalex.org/W4386076183","https://openalex.org/W4386083046","https://openalex.org/W4389819300","https://openalex.org/W4390872744","https://openalex.org/W4390873312","https://openalex.org/W4390874439","https://openalex.org/W4390874575","https://openalex.org/W4392866655","https://openalex.org/W4399563930","https://openalex.org/W4400721967","https://openalex.org/W4401386940","https://openalex.org/W4401414715","https://openalex.org/W4401416853","https://openalex.org/W4402354022","https://openalex.org/W4402704512","https://openalex.org/W4402704531","https://openalex.org/W4402716083","https://openalex.org/W4402726938","https://openalex.org/W4402727529","https://openalex.org/W4402727747","https://openalex.org/W4402727764","https://openalex.org/W4402733574","https://openalex.org/W4402753899","https://openalex.org/W4402754162","https://openalex.org/W4402754270","https://openalex.org/W4402754274","https://openalex.org/W4402771875","https://openalex.org/W4402776116","https://openalex.org/W4402915938","https://openalex.org/W4403808973","https://openalex.org/W4403842231","https://openalex.org/W4403906550","https://openalex.org/W4403906568","https://openalex.org/W4404002657","https://openalex.org/W4404722414","https://openalex.org/W4407856746","https://openalex.org/W4410349385"],"related_works":["https://openalex.org/W2021787609","https://openalex.org/W1537063595","https://openalex.org/W2097328689","https://openalex.org/W4234899305","https://openalex.org/W2379604501","https://openalex.org/W2373854414","https://openalex.org/W2574906695","https://openalex.org/W2522183581","https://openalex.org/W2954371137","https://openalex.org/W2120744156"],"abstract_inverted_index":{"Locating":[0],"objects":[1,167],"described":[2],"in":[3,122,188,193,209],"natural":[4],"language":[5,69],"presents":[6],"a":[7,45,67,72,97,119,163],"significant":[8,164,189],"challenge":[9],"for":[10,142],"autonomous":[11],"agents.":[12],"Existing":[13],"CLIP-based":[14],"open-vocabulary":[15],"methods":[16],"successfully":[17],"perform":[18],"3D":[19,55,88,124],"object":[20,37],"grounding":[21,168],"with":[22,29,59,96],"simple":[23],"(bare)":[24],"queries,":[25],"but":[26],"cannot":[27],"cope":[28],"ambiguous":[30],"descriptions":[31],"that":[32,116,135],"demand":[33],"an":[34,92],"understanding":[35],"of":[36,147,179,206],"relations.":[38],"To":[39],"tackle":[40],"this":[41],"problem,":[42],"we":[43,113,133],"propose":[44],"modular":[46],"approach":[47,161,208],"called":[48],"BBQ":[49,81,117],"(Beyond":[50],"Bare":[51],"Queries),":[52],"which":[53],"constructs":[54],"scene":[56,78],"graph":[57,105],"representation":[58],"metric":[60],"and":[61,65,91,110,156,183],"semantic":[62,125,150],"spatial":[63,137],"edges":[64],"utilizes":[66],"large":[68],"model":[70,100],"as":[71,104],"human-toagent":[73],"interface":[74],"through":[75],"our":[76,159,180,207],"deductive":[77,160],"reasoning":[79],"algorithm.":[80],"employs":[82],"robust":[83],"DINO-powered":[84],"associations":[85],"to":[86,101,128,173],"construct":[87],"object-centric":[89],"map":[90],"advanced":[93],"raycasting":[94],"algorithm":[95],"2D":[98],"vision-language":[99],"describe":[102],"them":[103],"nodes.":[106],"On":[107,152],"the":[108,148,196,204,215],"Replica":[109],"ScanNet":[111],"datasets,":[112],"have":[114],"demonstrated":[115],"takes":[118],"leading":[120],"place":[121],"openvocabulary":[123],"segmentation":[126],"compared":[127,172],"other":[129,174],"zeroshot":[130],"methods.":[131,176],"Also,":[132],"show":[134],"leveraging":[136],"relations":[138],"is":[139],"especially":[140],"effective":[141],"scenes":[143],"containing":[144],"multiple":[145],"entities":[146],"same":[149],"class.":[151],"challenging":[153],"Sr3D+,":[154],"Nr3D":[155],"ScanRefer":[157],"benchmarks,":[158],"demonstrates":[162],"improvement,":[165],"enabling":[166],"by":[169],"complex":[170],"queries":[171],"state-of-the-art":[175],"The":[177],"combination":[178],"design":[181],"choices":[182],"software":[184],"implementation":[185],"has":[186],"resulted":[187],"data":[190],"processing":[191],"speed":[192],"experiments":[194],"on":[195],"robot":[197],"on-board":[198],"computer.":[199],"This":[200],"promising":[201],"performance":[202],"enables":[203],"application":[205],"intelligent":[210],"robotics":[211],"projects.":[212],"We":[213],"made":[214],"code":[216],"publicly":[217],"available":[218],"at":[219],"linukc.github.io/BeyondBareQueries.":[220]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}