RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation

Hanxiao Jiang, Binghao Huang, Ruihai Wu, Zhuoran Li, Shubham Garg, Hooshang Nayyeri, Shenlong Wang, Yunzhu Li

Keywords: Action-Conditioned Scene Graph, Foundation Models for Robotics, Scene Exploration, Robotic Manipulation

Abstract:

We introduce the novel task of interactive scene exploration, wherein robots autonomously explore environments and produce an action-conditioned scene graph (ACSG) that captures the structure of the underlying environment. The ACSG accounts for both low-level information (geometry and semantics) and high-level information (action-conditioned relationships between different entities) in the scene. To this end, we present the Robotic Exploration (RoboEXP) system, which incorporates the Large Multimodal Model (LMM) and an explicit memory design to enhance our system's capabilities. The robot reasons about what and how to explore an object, accumulating new information through the interaction process and incrementally constructing the ACSG.
Leveraging the constructed ACSG, we illustrate the effectiveness and efficiency of our RoboEXP system in facilitating a wide range of real-world manipulation tasks involving rigid, articulated objects, nested objects, and deformable objects. Project Page: https://jianghanxiao.github.io/roboexp-web/

Video: https://www.youtube.com/embed/qaSbggX_tXU

Website: https://jianghanxiao.github.io/roboexp-web/

Code: https://github.com/Jianghanxiao/RoboEXP

Student Paper: yes

Submission Number: 192