SGImagineNav uses an imagined hierarchical scene graph, filled in by an LLM, that guides a robot to unseen objects and achieves 65.4% and 66.8% success on HM3D and HSSD.
A frontier-based approach for autonomous exploration
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Imaginative World Modeling with Scene Graphs for Embodied Agent Navigation
SGImagineNav uses an imagined hierarchical scene graph, filled in by an LLM, that guides a robot to unseen objects and achieves 65.4% and 66.8% success on HM3D and HSSD.