{"paper":{"title":"Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Abdeslam Boularias, Adeeb Abbas, Eric Jing, Haonan Chang, Kostas Bekris, Kowndinya Boyalakuntla, Lifeng Zhou, Shijie Geng, Shiyang Lu, Shreesh Keskar, Siwei Cai","submitted_at":"2023-09-27T18:32:29Z","abstract_excerpt":"We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-based queries. Unlike conventional semantic-based object localization approaches, our system facilitates context-aware entity localization, allowing for queries such as ``pick up a cup on a kitchen table\" or ``navigate to a sofa on which someone is sitting\". In contrast to existing research on 3D scene graphs, OVSG supports free-form text input and open-vocabulary querying. Through a series of comparative experiments usi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.15940","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2309.15940/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}