SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning.
Krishan RanaJesse HavilandSourav GargJad Abou-ChakraIan D. ReidNiko SünderhaufPublished in: CoRL (2023)
Keyphrases
- d scene
- language model
- language modeling
- n gram
- single image
- information retrieval
- document retrieval
- mobile robot
- depth map
- speech recognition
- optical flow
- probabilistic model
- query expansion
- statistical language models
- scene understanding
- language modelling
- vision system
- retrieval model
- test collection
- context sensitive
- smoothing methods
- coordinate frame
- camera viewpoint
- flow estimation
- relevance model
- language models for information retrieval
- scene flow
- pseudo relevance feedback
- position and orientation
- document ranking
- vector space model
- training data