mlsanityData to 7 Oct 2026

Sequential Manipulation Planning on Scene Graph

arXiv 2207.04364 ↗First posted 10 Jul 2022cs.RO cs.AIcited by 16

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Abstract (arXiv)

We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential task planning. Augmented with predicate-like attributes, this contact graph-based representation abstracts scene layouts with succinct geometric information and valid robot-scene interactions. Goal configurations, naturally specified on contact graphs, can be produced by a genetic algorithm with a stochastic optimization method. A task plan is then initialized by computing the Graph Editing Distance (GED) between the initial contact graphs and the goal configurations, which generates graph edit operations corresponding to possible robot actions. We finalize the task plan by imposing constraints to regulate the temporal feasibility of graph edit operations, ensuring valid task and motion correspondences. In a series of simulations and experiments, robots successfully complete complex sequential object rearrangement tasks that are difficult to specify using conventional planning language like Planning Domain Definition Language (PDDL), demonstrating the high feasibility and potential of robot sequential task planning on contact graph.

Key facts. Cited by 16 papers in the map (data through 7 Oct 2026). Builds on 23 of its 56 references that are in the map. First posted on arXiv 10 Jul 2022.

Builds on

23 of 56 references.

References · 23

  1. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,880
  2. 2019AI Feynman: a Physics-Inspired Method for Symbolic Regressioncited by 536
  3. 2020Integrated Task and Motion Planningcited by 281
  4. 20193D Scene Graph: A Structure for Unified Semantics, 3D Space, and Cameracited by 280
  5. 2021SceneGraphFusion: Incremental 3D Scene Graph Prediction from RGB-D Sequencescited by 159
  6. 2018PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planningcited by 147
  7. 2021Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphscited by 144
  8. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 83
  9. 2018Human-centric Indoor Scene Synthesis Using Stochastic Grammarcited by 73
  10. 2019Holistic++ Scene Understanding: Single-view 3D Holistic Scene Parsing and Human Pose Estimation with Human-Object Interaction and Physical Commonsensecited by 71
  11. 2020ScrewNet: Category-Independent Articulation Model Estimation From Depth Images Using Screw Theorycited by 70
  12. 2018Holistic 3D Scene Parsing and Reconstruction from a Single RGB Imagecited by 69
11 more
  1. 2019Online Replanning in Belief Space for Partially Observable Task and Motion Problemscited by 60
  2. 2020LEMMA: A Multi-view Dataset for Learning Multi-agent Multi-task Activitiescited by 46
  3. 2021MultiBodySync: Multi-Body Segmentation and Motion Estimation via 3D Scan Synchronizationcited by 46
  4. 2016FFRob: Leveraging Symbolic Planning for Efficient Task and Motion Planningcited by 34
  5. 2017Configurable 3D Scene Synthesis and 2D Image Rendering with Per-Pixel Ground Truth using Stochastic Grammarscited by 25
  6. 2021Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignmentscited by 15
  7. 2021Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspectivecited by 11
  8. 2020Joint Inference of States, Robot Knowledge, and Human (False-)Beliefscited by 8
  9. 2021Consolidating Kinematic Models to Promote Coordinated Mobile Manipulationscited by 8
  10. 2018Generalized Earley Parser: Bridging Symbolic Grammars and Sequence Data for Future Predictioncited by 7
  11. 2020Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertaintycited by 5

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 3; 2024: 6; 2025: 3; 2026: 4.

16 papers.

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  1. 2024LLM3:Large Language Model-based Task and Motion Planning with Motion Failure Reasoningcited by 63
  2. 2024RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulationcited by 48
  3. 2023SGAligner : 3D Scene Alignment with Scene Graphscited by 30
  4. 2024"Where am I?" Scene Retrieval with Languagecited by 15
  5. 2023Cross-Modality Time-Variant Relation Learning for Generating Dynamic Scene Graphscited by 13
  6. 2024VeriGraph: Scene Graphs for Execution Verifiable Robot Planningcited by 7
  7. 2023Rearrange Indoor Scenes for Human-Robot Co-Activitycited by 5
  8. 2024BiKC: Keypose-Conditioned Consistency Policy for Bimanual Robotic Manipulationcited by 5
  9. 2024SceneLLM: Implicit Language Reasoning in LLM for Dynamic Scene Graph Generationcited by 5
  10. 2025ESCA: Contextualizing Embodied Agents via Scene-Graph Generationcited by 4
  11. 2025Vision Language Models Cannot Plan, but Can They Formalize?cited by 2
  12. 2026VIZOR: Viewpoint-Invariant Zero-Shot Scene Graph Generation for 3D Scene Reasoningcited by 1
4 more
  1. 2025SAGE: Scene Graph-Aware Guidance and Execution for Long-Horizon Manipulation Taskscited by 0
  2. 2026PARSE: Part-Aware Relational Spatial Modelingcited by 0
  3. 2026Grounding Vision and Language to 3D Masks for Long-Horizon Box Rearrangementcited by 0
  4. 2026GAVEL: Graph World Models for Verified and Efficient Long-Horizon LLM Task Planningcited by 0