Relational Semantic Reasoning on 3D Scene Graphs for Open World Interactive Object Search
Open-world interactive object search in household environments requires understanding semantic relationships between objects and their surrounding context to guide exploration efficiently. Prior methods either rely on vision-language embeddings similarity, which does not reliably capture task-relevant relational semantics, or large language models (LLMs), which are too slow and costly for real-time deployment. We introduce SCOUT: Scene Graph-Based Exploration with Learned Utility for Open-World Interactive Object Search, a novel method that searches directly over 3D scene graphs by assigning utility scores to rooms, frontiers, and objects using relational exploration heuristics such as ro...
| Authors | Imen Mahdi, Matteo Cassinelli, Fabien Despinoy et al. |
|---|---|
| Primary category | cs.RO |
| Published | 5 March 2026 |
| Last updated at source | 27 May 2026 |
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