Cover Image

Articulated 3D Scene Graphs for Open-World Mobile Manipulation

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Büchner, Martin, Röfer, Adrian, Engelbracht, Tim, Welschehold, Tim, Bauer, Zuria, Blum, Hermann, Pollefeys, Marc, Valada, Abhinav
Format:	Preprint
Published:	2026
Subjects:	Robotics Artificial Intelligence Computer Vision and Pattern Recognition
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Hoi! - A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation
by: Engelbracht, Tim, et al.
Published: (2025)

SpotLight: Robotic Scene Understanding through Interaction and Affordance Detection
by: Engelbracht, Tim, et al.
Published: (2024)

Language-Grounded Dynamic Scene Graphs for Interactive Object Search with Mobile Manipulation
by: Honerkamp, Daniel, et al.
Published: (2024)

Bayesian Optimization for Sample-Efficient Policy Improvement in Robotic Manipulation
by: Röfer, Adrian, et al.
Published: (2024)

Collaborative Dynamic 3D Scene Graphs for Open-Vocabulary Urban Scene Understanding
by: Steinke, Tim, et al.
Published: (2025)

Task-Driven Co-Design of Mobile Manipulators
by: Schneider, Raphael, et al.
Published: (2024)

Relational Semantic Reasoning on 3D Scene Graphs for Open World Interactive Object Search
by: Mahdi, Imen, et al.
Published: (2026)

Lost & Found: Tracking Changes from Egocentric Observations in 3D Dynamic Scene Graphs
by: Behrens, Tjark, et al.
Published: (2024)

Online Estimation and Manipulation of Articulated Objects
by: Buchanan, Russell, et al.
Published: (2026)

Articulated Object Estimation in the Wild
by: Werby, Abdelrhman, et al.
Published: (2025)

Spot-On: A Mixed Reality Interface for Multi-Robot Cooperation
by: Engelbracht, Tim, et al.
Published: (2025)

MORE: Mobile Manipulation Rearrangement Through Grounded Language Reasoning
by: Mohammadi, Mohammad, et al.
Published: (2025)

Whole-Body Teleoperation for Mobile Manipulation at Zero Added Cost
by: Honerkamp, Daniel, et al.
Published: (2024)

SparTa: Sparse Graphical Task Models from a Handful of Demonstrations
by: Röfer, Adrian, et al.
Published: (2026)

The Art of Imitation: Learning Long-Horizon Manipulation Tasks from Few Demonstrations
by: von Hartz, Jan Ole, et al.
Published: (2024)

Spot-Compose: A Framework for Open-Vocabulary Object Retrieval and Drawer Manipulation in Point Clouds
by: Lemke, Oliver, et al.
Published: (2024)

Collaborative Dynamic 3D Scene Graphs for Automated Driving
by: Greve, Elias, et al.
Published: (2023)

The Neural Compass: Probabilistic Relative Feature Fields for Robotic Search
by: Somaschini, Gabriele, et al.
Published: (2026)

Learning Robotic Manipulation Policies from Point Clouds with Conditional Flow Matching
by: Chisari, Eugenio, et al.
Published: (2024)

Imagine2touch: Predictive Tactile Sensing for Robotic Manipulation using Efficient Low-Dimensional Signals
by: Ayad, Abdallah, et al.
Published: (2024)

Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation
by: Werby, Abdelrhman, et al.
Published: (2024)

Preference-Based Long-Horizon Robotic Stacking with Multimodal Large Language Models
by: Yu, Wanming, et al.
Published: (2025)

PseudoTouch: Efficiently Imaging the Surface Feel of Objects for Robotic Manipulation
by: Röfer, Adrian, et al.
Published: (2024)

CenterGrasp: Object-Aware Implicit Representation Learning for Simultaneous Shape Reconstruction and 6-DoF Grasp Estimation
by: Chisari, Eugenio, et al.
Published: (2023)

DITTO: Demonstration Imitation by Trajectory Transformation
by: Heppert, Nick, et al.
Published: (2024)

DiWA: Diffusion Policy Adaptation with World Models
by: Chandra, Akshay L, et al.
Published: (2025)

Learning Lane Graphs from Aerial Imagery Using Transformers
by: Büchner, Martin, et al.
Published: (2024)

Efficient Learning of Object Placement with Intra-Category Transfer
by: Röfer, Adrian, et al.
Published: (2024)

The Bare Necessities: Designing Simple, Effective Open-Vocabulary Scene Graphs
by: Kassab, Christina, et al.
Published: (2024)

OpenLex3D: A Tiered Evaluation Benchmark for Open-Vocabulary 3D Scene Representations
by: Kassab, Christina, et al.
Published: (2025)

AnchorD: Metric Grounding of Monocular Depth Using Factor Graphs
by: Dorer, Simon, et al.
Published: (2026)

Perception Matters: Enhancing Embodied AI with Uncertainty-Aware Semantic Segmentation
by: Prasanna, Sai, et al.
Published: (2024)

KinScene: Model-Based Mobile Manipulation of Articulated Scenes
by: Hsu, Cheng-Chun, et al.
Published: (2024)

The Unreasonable Effectiveness of Discrete-Time Gaussian Process Mixtures for Robot Policy Learning
by: von Hartz, Jan Ole, et al.
Published: (2025)

REACT3D: Recovering Articulations for Interactive Physical 3D Scenes
by: Huang, Zhao, et al.
Published: (2025)

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning
by: Fu, Zhengyu, et al.
Published: (2026)

Semantic Scene Segmentation for Robotics
by: Hurtado, Juana Valeria, et al.
Published: (2024)

HoloSpot: Intuitive Object Manipulation via Mixed Reality Drag-and-Drop
by: Garcia, Pablo Soler, et al.
Published: (2024)

Adaptive Mobile Manipulation for Articulated Objects In the Open World
by: Xiong, Haoyu, et al.
Published: (2024)

OpenFrontier: General Navigation with Visual-Language Grounded Frontiers
by: Padilla-Cerdio, Esteban, et al.
Published: (2026)