G. Tonetti

Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments

Prior-SG achieves state-of-the-art semantic region segmentation accuracy compared to recent baselines, robustly delineates distant functional boundaries in the absence of physical walls, and uniquely provides zero-shot ontological flexibility, enabling the robot to entirely restructure its spatial partitioning based on a given high-level task.