Representing and understanding 3D environments in a structured manner is crucial for autonomous agents to navigate and reason about their surroundings. While traditional Simultaneous Localization and Mapping (SLAM) methods generate metric reconstructions and can be extended to metric-semantic mapping, they lack a higher level of abstraction and relational reasoning. To address this gap, 3D scene graphs have emerged as a powerful representation for capturing hierarchical structures and object relationships. In this work, we propose an enhanced hierarchical 3D scene graph that integrates open-vocabulary features across multiple abstraction levels and supports object-relational reasoning. Our approach leverages a Vision Language Model (VLM) to infer semantic relationships. Notably, we introduce a task reasoning module that combines Large Language Models (LLM) and a VLM to interpret the scene graph's semantic and relational information, enabling agents to reason about tasks and interact with their environment more intelligently. We validate our method by deploying it on a quadruped robot in multiple environments and tasks, highlighting its ability to reason about them.
Aion: Towards Hierarchical 4D Scene Graphs with Temporal Flow Dynamics
University of Turku（图尔库大学）；Centre for Artificial Intelligence, Zürich University of Applied Sciences（应用科学大学人工智能中心）；Instituto Tecnológico de Aragón (ITA) and the University of Zaragoza（阿兰理工大学和萨拉戈萨大学）；University of Zaragoza（萨拉戈萨大学）
HGS-Planner: Hierarchical Planning Framework for Active Scene Reconstruction Using 3D Gaussian Splatting
Academy for Engineering & Technology, Fudan University（复旦大学工程与技术学院）；Institute of Cyber-Systems and Control, College of Control Science and Engineering, Zhejiang University（浙江大学控制科学与工程学院 cyber系统与控制研究所）；Department of Computer Science and Engineering, Shanghai Jiao Tong University（上海交通大学计算机科学与工程系）
FOGMACHINE -- Leveraging Discrete-Event Simulation and Scene Graphs for Modeling Hierarchical, Interconnected Environments under Partial Observations from Mobile Agents
Institute for Material Handling and Logistics, Karlsruhe Institute of Technology（材料搬运与物流研究所，卡尔斯鲁厄技术大学）
MesaTask: Towards Task-Driven Tabletop Scene Generation via 3D Spatial Reasoning
Shanghai Jiao Tong University（上海交通大学）；Shanghai AI Laboratory（上海人工智能实验室）；SII Southern University of Science and Technology（南方科技大学）；Peking University（北京大学）
SEPT: Standard-Definition Map Enhanced Scene Perception and Topology Reasoning for Autonomous Driving
Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology（电子与计算机工程系，香港科学与技术大学）；Zhuoyu Technology（卓予科技）；State Key Laboratory for Novel Software Technology, Nanjing University（新型软件技术国家重点实验室，南京大学）
Hierarchical and Holistic Open-Vocabulary Functional 3D Scene Graphs for Indoor Spaces
Tsinghua University（清华大学）；ETH Zürich（苏黎世联邦理工学院）；MPI for Informatics（信息研究所）；Dalian University of Technology（大连理工大学）；Microsoft（微软）；Stanford University（斯坦福大学）；University of Lugano（卢加诺大学）
Cognitive Dual-Process Planning for Autonomous Driving with Structured Scene Knowledge and Verifiable Reasoning-Action Consistency
School of Mechanical Engineering, Beijing Institute of Technology（北京理工大学机械工程学院）；National Engineering Research Center of Electric Vehicles, Beijing Institute of Technology（北京理工大学电动车辆国家工程研究中心）；School of Mechanical Engineering, Southeast University（东南大学机械工程学院）
Hi-Dyna Graph: Hierarchical Dynamic Scene Graph for Robotic Autonomy in Human-Centric Environments
School of Computer Science, Fudan University（复旦大学计算机科学学院）；Institute of Science and Technology for Brain-Inspired Intelligence, Fudan University（复旦大学脑启发式智能科学研究院）
