Core Concepts
SG-Bot is a novel rearrangement framework utilizing scene graphs for robotic object rearrangement, outperforming competitors significantly.
Abstract
SG-Bot workflow involves Observation, Imagination, and Execution stages.
It uses a coarse-to-fine approach with scene graphs for goal scene imagination.
SG-Bot does not rely on known goal priors but generates them exclusively for initial scenes.
The method ensures precise object rearrangement performance in real-world scenarios.
Experimental results show SG-Bot's superiority over state-of-the-art methods in accuracy and fidelity.
Stats
SG-Botは競合を大きく上回る新しい再配置フレームワークです。