# Towards a Domain Specific Language for a Scene Graph based Robotic World Model

arXiv: https://arxiv.org/abs/1408.0200 · HTML: https://mlsanity.com/paper/1408.0200/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in Embodied and robot world models, one of 11 directions in World models.
- Builds on 0 of its 19 references that are in the map.
- First posted on arXiv 1 Aug 2014.

## Placed in

- World models / [Embodied and robot world models](https://mlsanity.com/wm/embodied-and-robot-world-models/)

## Built on by (most cited first, 2 of 2)

- [Semantics for Robotic Mapping, Perception and Interaction: A Survey](https://mlsanity.com/paper/2101.00443/) (2021)
- [Reasoning in complex environments with the SelectScript declarative language](https://mlsanity.com/paper/1508.04159/) (2015)

## Abstract (arXiv)

Robot world model representations are a vital part of robotic applications. However, there is no support for such representations in model-driven engineering tool chains. This work proposes a novel Domain Specific Language (DSL) for robotic world models that are based on the Robot Scene Graph (RSG) approach. The RSG-DSL can express (a) application specific scene configurations, (b) semantic scene structures and (c) inputs and outputs for the computational entities that are loaded into an instance of a world model.