From USD Scenes to Knowledge Graphs: Zero-Shot Ontology Grounding with LLMs
Constructing knowledge graphs from 3D simulation scenes is essential for robot task reasoning, but the key bottleneck, grounding scene objects to formal ontology classes, still relies on manually curated dictionaries that are brittle and do not generalize across assets. We investigate whether large language models (LLMs) can automate this grounding step for Universal Scene Description (USD) scenes as a zero-shot, training-free alternative. On a kitchen scene (125 objects) with SOMA-HOME Ontology, LLMs achieve 90-96% exact-match accuracy with descriptive names and 49-89% with abbreviated names, substantially outperforming dictionary and embedding baselines. Under fully opaque names, contex...
| Authors | Jiangtao Shuai, Zongxiong Chen, Manfred Hauswirth et al. |
|---|---|
| Primary category | cs.RO |
| Published | 8 June 2026 |
| Last updated at source | 8 June 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.