{"id":"W4401414715","doi":"10.1109/icra57147.2024.10610243","title":"ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning","year":2024,"lang":"en","type":"article","venue":"","topic":"Robotics and Sensor-Based Localization","field":"Engineering","cited_by":182,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université de Montréal; University of Toronto","funders":"Army Research Laboratory","keywords":"Computer science; Vocabulary; Perception; Artificial intelligence; Computer vision; Natural language processing; Linguistics; Psychology","routes":{"ca_aff":true,"ca_fund":false,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.00007929909,0.00008963548,0.00009042524,0.00008817302,0.0000549078,0.0001928701,0.000055828,0.00005545525,0.00005204169],"category_scores_gemma":[0.000006123006,0.00008233538,0.00002650439,0.000122929,0.0000194558,0.00015285,0.00001467212,0.00005176548,0.000006176097],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00001406313,"about_ca_system_score_gemma":0.000006169246,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.00001008706,"about_ca_topic_score_gemma":0.000002911798,"domain_scores_codex":[0.9995622,0.000006429683,0.0001134747,0.0001436225,0.00005191828,0.0001223691],"domain_scores_gemma":[0.9998221,0.00003651838,0.000004731608,0.00007292473,0.00002058995,0.0000430985],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.00004109295,0.0000338206,0.002000717,0.001127721,0.0002174054,0.00003221273,0.002664889,0.766612,0.02684455,0.0458326,0.04450576,0.1100873],"study_design_scores_gemma":[0.0001981176,0.00003706157,0.000518674,0.0000850411,0.00001874917,0.000004489929,0.0002440904,0.9929307,0.0003856111,0.00105913,0.004379077,0.0001392376],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.078172,0.001737988,0.9136837,0.0000894531,0.0006463402,0.0004327049,0.00001195845,0.0005069672,0.00471887],"genre_scores_gemma":[0.984575,0.0001616091,0.01477689,0.000105905,0.00006676203,0.00002123237,0.00005960326,0.00003312309,0.0001998754],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.906403,"threshold_uncertainty_score":0.3357539,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.02218585672817179,"score_gpt":0.2714699540918887,"score_spread":0.2492840973637169,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}