{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/context-aware-entity-grounding-with-open","title":"Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs","arxiv_id":"2309.15940","date":"2023-09-27","proceeding":null,"authors":["Haonan Chang","Kowndinya Boyalakuntla","Shiyang Lu","Siwei Cai","Eric Jing","Shreesh Keskar","Shijie Geng","Adeeb Abbas","Lifeng Zhou","Kostas Bekris","Abdeslam Boularias"],"abstract":"We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-based queries. Unlike conventional semantic-based object localization approaches, our system facilitates context-aware entity localization, allowing for queries such as ``pick up a cup on a kitchen table\" or ``navigate to a sofa on which someone is sitting\". In contrast to existing research on 3D scene graphs, OVSG supports free-form text input and open-vocabulary querying. Through a series of comparative experiments using the ScanNet dataset and a self-collected dataset, we demonstrate that our proposed approach significantly surpasses the performance of previous semantic-based localization techniques. Moreover, we highlight the practical application of OVSG in real-world robot navigation and manipulation experiments.","url_abs":"https://arxiv.org/abs/2309.15940v1","url_pdf":"https://arxiv.org/pdf/2309.15940v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"context-aware-entity-grounding-with-open","repo_url":"https://github.com/changhaonan/ovsg","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"form","task_name":"Form"},{"task_slug":"navigate","task_name":"Navigate"},{"task_slug":"object","task_name":"Object"},{"task_slug":"object-localization","task_name":"Object Localization"},{"task_slug":"robot-navigation","task_name":"Robot Navigation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2309.15940","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}