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arXiv · 2506.07454

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs

Jared Strader·Aaron Ray·Jacob Arkin·Mason B. Peterson·Yun Chang·Nathan Hughes·Christopher Bradley·Yi Xuan Jia·Carlos Nieto-Granda·Rajat Talak·Chuchu Fan·Luca Carlone·Jonathan P. How·Nicholas Roy
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Abstract

In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared 3D scene graph incorporating an open-set object-based map, which is leveraged for multi-robot 3D scene graph fusion. This representation supports real-time, view-invariant relocalization (via the object-based map) and planning (via the 3D scene graph), allowing a team of robots to reason about their surroundings and execute complex tasks. Additionally, we introduce a planning approach that translates operator intent into Planning Domain Definition Language (PDDL) goals using a Large Language Model (LLM) by leveraging context from the shared 3D scene graph and robot capabilities. We provide an experimental assessment of the performance of our system on real-world tasks in large-scale, outdoor environments. A supplementary video is available at https://youtu.be/8xbGGOLfLAY.

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Jared Strader, Aaron Ray, Jacob Arkin, Mason B. Peterson, Yun Chang, Nathan Hughes, Christopher Bradley, Yi Xuan Jia, Carlos Nieto-Granda, Rajat Talak, Chuchu Fan, Luca Carlone, Jonathan P. How, Nicholas Roy. 2025-07-10. Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs. https://arxiv.org/abs/2506.07454

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