Clio

This repository will contain the code for Clio: Real-time Task-Driven Open-Set 3D Scene Graphs.

We propose Clio, a novel approach for building task-driven 3D scene graphs in real-time with embedded open-set semantics. We draw inspiration from the classical Information Bottleneck principle to form task- relevant clusters of object primitives given a set of natural language tasks — such as ''Read brown textbook'' — and by clustering the scene into task-relevant semantic regions such as “Kitchenette” or “Workspace”.

Table of Contents

• Paper
• Video

Note: The code and datasets will be released here shortly.

Datasets

• Coming soon

Setup

• Coming soon

Paper

If you find this useful for your research, please consider citing our paper:

• Dominic Maggio, Yun Chang, Nathan Hughes, Matthew Trang, Dan Griffith, Carlyn Dougherty, Eric Cristofalo, Lukas Schmid, Luca Carlone, "Clio: Real-time Task-Driven Open-Set 3D Scene Graphs", in ArXiv Preprint, 2024. ArXiv-Link

   @misc{Maggio2024Clio,
      title={Clio: Real-time Task-Driven Open-Set 3D Scene Graphs}, 
      author={Dominic Maggio and Yun Chang and Nathan Hughes and Matthew Trang and Dan Griffith and Carlyn Dougherty and Eric Cristofalo and Lukas Schmid and Luca Carlone},
      year={2024},
      eprint={2404.13696},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
   }

Video

An overview of Clio is available on YouTube: