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arXiv · 2504.06661

Domain-Conditioned Scene Graphs for State-Grounded Task Planning

Jonas Herzog·Jiangpin Liu·Yue Wang
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Abstract

Recent robotic task planning frameworks have integrated large multimodal models (LMMs) such as GPT-4o. To address grounding issues of such models, it has been suggested to split the pipeline into perceptional state grounding and subsequent state-based planning. As we show in this work, the state grounding ability of LMM-based approaches is still limited by weaknesses in granular, structured, domain-specific scene understanding. To address this shortcoming, we develop a more structured state grounding framework that features a domain-conditioned scene graph as its scene representation. We show that such representation is actionable in nature as it is directly mappable to a symbolic state in planning languages such as the Planning Domain Definition Language (PDDL). We provide an instantiation of our state grounding framework where the domain-conditioned scene graph generation is implemented with a lightweight vision-language approach that classifies domain-specific predicates on top of domain-relevant object detections. Evaluated across three domains, our approach achieves significantly higher state rounding accuracy and task planning success rates compared to LMM-based approaches.

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Jonas Herzog, Jiangpin Liu, Yue Wang. 2025-04-09. Domain-Conditioned Scene Graphs for State-Grounded Task Planning. https://arxiv.org/abs/2504.06661

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