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
- single image
- mobile robot
- probabilistic model
- document retrieval
- depth map
- information retrieval
- language modelling
- statistical language models
- scene understanding
- n gram
- speech recognition
- retrieval model
- optical flow
- query expansion
- context sensitive
- smoothing methods
- scene flow
- coordinate frame
- language models for information retrieval
- pseudo relevance feedback
- relevance model
- translation model
- document ranking
- test collection
- viewpoint
- planar patches
- camera viewpoint
- position and orientation
- multi view
- vision system
- flow estimation
- search engine