Articulated 3D Scene Graphs for Open-World Mobile Manipulation

arXiv:2602.16356 · cs.RO, cs.AI, cs.CV · Submitted 2026-02-18 · Read on arXiv

cs.RO, cs.AI, cs.CV

Submitted: 2026-02-18

Updated: 2026-10-12

Comments: 10th Conference on Robot Learning (CoRL 2026)

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Affordance — 1× in this paper · explained in 1 episode

Sources

• Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization
• Online Estimation and Manipulation of Articulated Objects
• Semantic-SAM: Segment and Recognize Anything at Any Granularity
• Faster Segment Anything: Towards Lightweight SAM for Mobile Applications
• The Replica Dataset: A Digital Replica of Indoor Spaces

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