Cover Image

MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Ju, Yuanchen, Liang, Yongyuan, Wang, Yen-Jen, Gireesh, Nandiraju, Ju, Yuanliang, Lee, Seungjae, Gu, Qiao, Hsieh, Elvis, Huang, Furong, Sreenath, Koushil
Format:	Preprint
Published:	2025
Subjects:	Computer Vision and Pattern Recognition Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Adaptive Q-Chunking for Offline-to-Online Reinforcement Learning
by: Gireesh, Nandiraju, et al.
Published: (2026)

HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Tasks
by: Gireesh, Nandiraju, et al.
Published: (2026)

Lemon: A Unified and Scalable 3D Multimodal Model for Universal Spatial Understanding
by: Liang, Yongyuan, et al.
Published: (2025)

Learning Dexterous Manipulation Skills from Imperfect Simulations
by: Hsieh, Elvis, et al.
Published: (2025)

Prompt a Robot to Walk with Large Language Models
by: Wang, Yen-Jen, et al.
Published: (2023)

A Ray Intersection Algorithm for Fast Growth Distance Computation Between Convex Sets
by: Thirugnanam, Akshay, et al.
Published: (2026)

WOMBET: World Model-based Experience Transfer for Robust and Sample-efficient Reinforcement Learning
by: Kim, Mintae, et al.
Published: (2026)

Robust Adversarial Policy Optimization Under Dynamics Uncertainty
by: Kim, Mintae, et al.
Published: (2026)

Dynamic Incentive Selection for Hierarchical Convex Model Predictive Control
by: Thirugnanam, Akshay, et al.
Published: (2025)

Watch Less, Feel More: Sim-to-Real RL for Generalizable Articulated Object Manipulation via Motion Adaptation and Impedance Control
by: Do, Tan-Dzung, et al.
Published: (2025)

IteraOptiRacing: A Unified Planning-Control Framework for Real-time Autonomous Racing for Iterative Optimal Performance
by: Zeng, Yifan, et al.
Published: (2025)

SAFE: Multitask Failure Detection for Vision-Language-Action Models
by: Gu, Qiao, et al.
Published: (2025)

EmbodiedVSR: Dynamic Scene Graph-Guided Chain-of-Thought Reasoning for Visual Spatial Tasks
by: Zhang, Yi, et al.
Published: (2025)

RoVerFly: Robust and Versatile Implicit Hybrid Control of Quadrotor-Payload Systems
by: Kim, Mintae, et al.
Published: (2025)

Control Barrier Functions for Collision Avoidance Between Strongly Convex Regions
by: Thirugnanam, Akshay, et al.
Published: (2023)

Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
by: Thirugnanam, Akshay, et al.
Published: (2021)

Coordinated Humanoid Manipulation with Choice Policies
by: Qi, Haozhi, et al.
Published: (2025)

EmbodiedRAG: Dynamic 3D Scene Graph Retrieval for Efficient and Scalable Robot Task Planning
by: Booker, Meghan, et al.
Published: (2024)

ImOV3D: Learning Open-Vocabulary Point Clouds 3D Object Detection from Only 2D Images
by: Yang, Timing, et al.
Published: (2024)

3DGS-DET: Empower 3D Gaussian Splatting with Boundary Guidance and Box-Focused Sampling for Indoor 3D Object Detection
by: Cao, Yang, et al.
Published: (2024)

LLaVA-SG: Leveraging Scene Graphs as Visual Semantic Expression in Vision-Language Models
by: Wang, Jingyi, et al.
Published: (2024)

Ego-Vision World Model for Humanoid Contact Planning
by: Liu, Hang, et al.
Published: (2025)

Towards Considerate Embodied AI: Co-Designing Situated Multi-Site Healthcare Robots from Abstract Concepts to High-Fidelity Prototypes
by: Bai, Yuanchen, et al.
Published: (2026)

LLM-Driven Self-Refinement for Embodied Drone Task Planning
by: Zhang, Deyu, et al.
Published: (2025)

Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots
by: Cai, Jiaze, et al.
Published: (2024)

CHyLL: Learning Continuous Neural Representations of Hybrid Systems
by: Teng, Sangli, et al.
Published: (2025)

Domain-Conditioned Scene Graphs for State-Grounded Task Planning
by: Herzog, Jonas, et al.
Published: (2025)

Task and Motion Planning in Hierarchical 3D Scene Graphs
by: Ray, Aaron, et al.
Published: (2024)

CurricuLLM: Automatic Task Curricula Design for Learning Complex Robot Skills using Large Language Models
by: Ryu, Kanghyun, et al.
Published: (2024)

Robust Offline Active Learning on Graphs
by: Wu, Yuanchen, et al.
Published: (2024)

Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations
by: Hu, Yucheng, et al.
Published: (2024)

GRID: Scene-Graph-based Instruction-driven Robotic Task Planning
by: Ni, Zhe, et al.
Published: (2023)

Embodied Task Planning via Graph-Informed Action Generation with Large Language Models
by: Li, Xiang, et al.
Published: (2026)

Safety Filters for Black-Box Dynamical Systems by Learning Discriminating Hyperplanes
by: Lavanakul, Will, et al.
Published: (2024)

Imaginative World Modeling with Scene Graphs for Embodied Agent Navigation
by: Hu, Yue, et al.
Published: (2025)

Scene-Driven Multimodal Knowledge Graph Construction for Embodied AI
by: Yaoxian, Song, et al.
Published: (2023)

ESCA: Contextualizing Embodied Agents via Scene-Graph Generation
by: Huang, Jiani, et al.
Published: (2025)

GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion
by: Zhang, Jiazhao, et al.
Published: (2023)

LookPlanGraph: Embodied Instruction Following Method with VLM Graph Augmentation
by: Onishchenko, Anatoly O., et al.
Published: (2025)

Boosting Multitask Learning on Graphs through Higher-Order Task Affinities
by: Li, Dongyue, et al.
Published: (2023)