{"id":"https://openalex.org/W4401415428","doi":"https://doi.org/10.1109/icra57147.2024.10610792","title":"SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphs","display_name":"SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphs","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415428","doi":"https://doi.org/10.1109/icra57147.2024.10610792"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610792","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5054810193","display_name":"Guangyao Zhai","orcid":"https://orcid.org/0000-0002-6702-8302"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Guangyao Zhai","raw_affiliation_strings":["Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066775646","display_name":"Xiaoni Cai","orcid":"https://orcid.org/0000-0003-2114-8162"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Xiaoni Cai","raw_affiliation_strings":["Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102782165","display_name":"Dianye Huang","orcid":"https://orcid.org/0000-0001-7719-6505"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dianye Huang","raw_affiliation_strings":["Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017575531","display_name":"Yan Di","orcid":"https://orcid.org/0000-0003-0671-8323"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yan Di","raw_affiliation_strings":["Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006401089","display_name":"Fabian Manhardt","orcid":"https://orcid.org/0000-0002-4577-4590"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fabian Manhardt","raw_affiliation_strings":["Google"],"affiliations":[{"raw_affiliation_string":"Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041092666","display_name":"Federico Tombari","orcid":"https://orcid.org/0000-0001-5598-5212"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Federico Tombari","raw_affiliation_strings":["Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046896448","display_name":"Nassir Navab","orcid":"https://orcid.org/0000-0002-6032-5611"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nassir Navab","raw_affiliation_strings":["Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067135033","display_name":"Benjamin Busam","orcid":"https://orcid.org/0000-0002-0620-5774"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benjamin Busam","raw_affiliation_strings":["Technical University of Munich"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5054810193"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":30.465,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.99596975,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4303","last_page":"4310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9923999905586243,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9915000200271606,"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/object","display_name":"Object (grammar)","score":0.6399867534637451},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6139325499534607},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5520756244659424},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5117916464805603}],"concepts":[{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6399867534637451},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6139325499534607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5520756244659424},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5117916464805603}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610792","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":95,"referenced_works":["https://openalex.org/W1630678085","https://openalex.org/W2049981393","https://openalex.org/W2077069816","https://openalex.org/W2109447584","https://openalex.org/W2118104180","https://openalex.org/W2277195237","https://openalex.org/W2415216611","https://openalex.org/W2579549467","https://openalex.org/W2736647539","https://openalex.org/W2905288042","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2963184176","https://openalex.org/W2963756608","https://openalex.org/W2964334375","https://openalex.org/W2968156685","https://openalex.org/W2972535098","https://openalex.org/W2981410089","https://openalex.org/W2990129662","https://openalex.org/W3007769740","https://openalex.org/W3009928773","https://openalex.org/W3016121695","https://openalex.org/W3035108870","https://openalex.org/W3035154952","https://openalex.org/W3035624836","https://openalex.org/W3042567147","https://openalex.org/W3089825434","https://openalex.org/W3096609285","https://openalex.org/W3097484130","https://openalex.org/W3177813494","https://openalex.org/W3183042936","https://openalex.org/W3193676140","https://openalex.org/W3203511201","https://openalex.org/W3204757729","https://openalex.org/W3204896549","https://openalex.org/W3206144464","https://openalex.org/W3206916018","https://openalex.org/W3207057769","https://openalex.org/W3207187156","https://openalex.org/W3209765550","https://openalex.org/W3212977909","https://openalex.org/W4200523064","https://openalex.org/W4221165315","https://openalex.org/W4224035735","https://openalex.org/W4224308101","https://openalex.org/W4224912544","https://openalex.org/W4226236972","https://openalex.org/W4226321491","https://openalex.org/W4285102264","https://openalex.org/W4285219362","https://openalex.org/W4287112297","https://openalex.org/W4292779060","https://openalex.org/W4293566037","https://openalex.org/W4294753122","https://openalex.org/W4301206121","https://openalex.org/W4309801456","https://openalex.org/W4312107217","https://openalex.org/W4312891162","https://openalex.org/W4313189197","https://openalex.org/W4318210185","https://openalex.org/W4367721889","https://openalex.org/W4383097638","https://openalex.org/W4383108457","https://openalex.org/W4383108845","https://openalex.org/W4385430588","https://openalex.org/W4385430679","https://openalex.org/W4385473486","https://openalex.org/W4386075912","https://openalex.org/W4389665359","https://openalex.org/W4390874575","https://openalex.org/W4401415110","https://openalex.org/W6636808768","https://openalex.org/W6640963894","https://openalex.org/W6747106673","https://openalex.org/W6765779288","https://openalex.org/W6778883912","https://openalex.org/W6784840303","https://openalex.org/W6797065961","https://openalex.org/W6798182279","https://openalex.org/W6801810553","https://openalex.org/W6802433375","https://openalex.org/W6802517928","https://openalex.org/W6805018690","https://openalex.org/W6809885388","https://openalex.org/W6810081322","https://openalex.org/W6810640255","https://openalex.org/W6811467201","https://openalex.org/W6842248158","https://openalex.org/W6846242362","https://openalex.org/W6847119409","https://openalex.org/W6847224448","https://openalex.org/W6848159663","https://openalex.org/W6850503672","https://openalex.org/W6854738657","https://openalex.org/W6990034122"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Object":[0],"rearrangement":[1,22],"is":[2],"pivotal":[3],"in":[4,11],"robotic-environment":[5],"interactions,":[6],"representing":[7],"a":[8,20,26,30,71,89,104,120,125,164],"significant":[9],"capability":[10],"embodied":[12],"AI.":[13],"In":[14],"this":[15,115],"paper,":[16],"we":[17],"present":[18],"SG-Bot,":[19],"novel":[21],"framework":[23],"that":[24,40,159],"utilizes":[25],"coarse-to-fine":[27],"scheme":[28],"with":[29,65],"scene":[31,35,91,105,116,128,136],"graph":[32,117],"as":[33],"the":[34,60,80,93,130,134,143],"representation.":[36],"Unlike":[37],"previous":[38],"methods":[39],"rely":[41],"on":[42],"either":[43,109],"known":[44],"goal":[45,127,147],"priors":[46],"or":[47,111],"zero-shot":[48],"large":[49,165],"models,":[50],"SG-Bot":[51,69,160],"exemplifies":[52],"lightweight,":[53],"real-time,":[54],"and":[55,76,86,101,137,145],"user-controllable":[56],"characteristics,":[57],"seamlessly":[58],"blending":[59],"consideration":[61],"of":[62],"commonsense":[63,110],"knowledge":[64],"automatic":[66],"generation":[67],"capabilities.":[68],"employs":[70],"three-fold":[72],"procedure\u2013":[73],"observation,":[74],"imagination,":[75],"execution\u2013to":[77],"adeptly":[78],"address":[79],"task.":[81],"Initially,":[82],"objects":[83,96],"are":[84,97,149],"discerned":[85],"extracted":[87],"from":[88,133],"cluttered":[90],"during":[92],"observation.":[94],"These":[95],"first":[98],"coarsely":[99],"organized":[100],"depicted":[102],"within":[103],"graph,":[106],"guided":[107],"by":[108,163],"user-defined":[112],"criteria.":[113],"Then,":[114],"subsequently":[118],"informs":[119],"generative":[121],"model,":[122],"which":[123],"forms":[124],"fine-grained":[126],"considering":[129],"shape":[131],"information":[132],"initial":[135,144],"object":[138],"semantics.":[139],"Finally,":[140],"for":[141],"execution,":[142],"envisioned":[146],"scenes":[148],"matched":[150],"to":[151],"formulate":[152],"robotic":[153],"action":[154],"policies.":[155],"Experimental":[156],"results":[157],"demonstrate":[158],"outperforms":[161],"competitors":[162],"margin.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":13}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}