{"id":"https://openalex.org/W4384268338","doi":"https://doi.org/10.48550/arxiv.2307.06135","title":"SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning","display_name":"SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning","publication_year":2023,"publication_date":"2023-07-12","ids":{"openalex":"https://openalex.org/W4384268338","doi":"https://doi.org/10.48550/arxiv.2307.06135"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2307.06135","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2307.06135","pdf_url":"https://arxiv.org/pdf/2307.06135","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2307.06135","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001506562","display_name":"Krishan Rana","orcid":"https://orcid.org/0000-0002-9028-9295"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Rana, Krishan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054290504","display_name":"Jesse Haviland","orcid":"https://orcid.org/0000-0002-1227-7459"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haviland, Jesse","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089947531","display_name":"Sourav Garg","orcid":"https://orcid.org/0000-0001-6068-3307"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Garg, Sourav","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002123423","display_name":"Jad Abou-Chakra","orcid":"https://orcid.org/0000-0002-9122-3132"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abou-Chakra, Jad","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089444805","display_name":"Ian Reid","orcid":"https://orcid.org/0000-0001-7790-6423"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Reid, Ian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5112359435","display_name":"Niko Suenderhauf","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Suenderhauf, Niko","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5001506562"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9984999895095825,"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":0.9984999895095825,"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/T10028","display_name":"Topic Modeling","score":0.9916999936103821,"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"}},{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9865999817848206,"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":0.7646619081497192},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6478356122970581},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5889059901237488},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5553203225135803},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.554134726524353},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5268536806106567},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.523949384689331},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49460551142692566},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.43266069889068604},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4290067255496979},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37561678886413574},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1794373095035553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11271485686302185},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.10938015580177307},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.07733303308486938}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7646619081497192},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6478356122970581},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5889059901237488},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5553203225135803},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.554134726524353},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5268536806106567},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.523949384689331},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49460551142692566},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.43266069889068604},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4290067255496979},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37561678886413574},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1794373095035553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11271485686302185},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.10938015580177307},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.07733303308486938},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2307.06135","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2307.06135","pdf_url":"https://arxiv.org/pdf/2307.06135","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2307.06135","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2307.06135","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2307.06135","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2307.06135","pdf_url":"https://arxiv.org/pdf/2307.06135","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703"],"abstract_inverted_index":{"Large":[0],"language":[1,164],"models":[2],"(LLMs)":[3],"have":[4],"demonstrated":[5],"impressive":[6],"results":[7],"in":[8,20],"developing":[9],"generalist":[10],"planning":[11,42,89,124],"agents":[12],"for":[13,30,43,74,91,166],"diverse":[14],"tasks.":[15],"However,":[16],"grounding":[17,155],"these":[18],"plans":[19,159],"expansive,":[21],"multi-floor,":[22],"and":[23,100,122,139,145,147,162],"multi-room":[24],"environments":[25,133],"presents":[26],"a":[27,35,71,78,96,115,167],"significant":[28],"challenge":[29],"robotics.":[31],"We":[32,126,173],"introduce":[33,102],"SayPlan,":[34],"scalable":[36],"approach":[37,129,151],"to":[38,66,69,136,171],"LLM-based,":[39],"large-scale":[40,132],"task":[41,158],"robotics":[44],"using":[45,112],"3D":[46],"scene":[47,116],"graph":[48,117],"(3DSG)":[49],"representations.":[50],"To":[51],"ensure":[52],"the":[53,61,83,88,92,109],"scalability":[54],"of":[55,64,82,154],"our":[56,128,150,180],"approach,":[57],"we:":[58],"(1)":[59],"exploit":[60],"hierarchical":[62],"nature":[63],"3DSGs":[65],"allow":[67],"LLMs":[68],"conduct":[70],"'semantic":[72],"search'":[73],"task-relevant":[75],"subgraphs":[76],"from":[77,114,160],"smaller,":[79],"collapsed":[80],"representation":[81],"full":[84],"graph;":[85],"(2)":[86],"reduce":[87],"horizon":[90],"LLM":[93],"by":[94],"integrating":[95],"classical":[97],"path":[98],"planner":[99],"(3)":[101],"an":[103],"'iterative":[104],"replanning'":[105],"pipeline":[106],"that":[107,149],"refines":[108],"initial":[110],"plan":[111],"feedback":[113],"simulator,":[118],"correcting":[119],"infeasible":[120],"actions":[121],"avoiding":[123],"failures.":[125],"evaluate":[127],"on":[130,179],"two":[131],"spanning":[134],"up":[135],"3":[137],"floors":[138],"36":[140],"rooms":[141],"with":[142],"140":[143],"assets":[144],"objects":[146],"show":[148],"is":[152],"capable":[153],"large-scale,":[156],"long-horizon":[157],"abstract,":[161],"natural":[163],"instruction":[165],"mobile":[168],"manipulator":[169],"robot":[170,176],"execute.":[172],"provide":[174],"real":[175],"video":[177],"demonstrations":[178],"project":[181],"page":[182],"https://sayplan.github.io.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":1}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2023-07-14T00:00:00"}
