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simmediumquadrupedmetric · varies
Asset-Centric Metric-Semantic Maps of Indoor Environments
Description
Large Language Models (LLMs) can help robots reason about abstract task specifications. This requires augmenting classical representations of the environment used by robots, such as point-clouds and meshes, with natural language-based priors. There are a number of approaches to do so in the existing literature. While some navigation frameworks leverage scene-level semantics at the expense of object-level detail, others such as language-guided neural radiance fields (NeRFs) or segment-anything 3D