Author

Basak Sakçak

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Preprint Sep 2026

An Information-Space Perspective to Scene Graph Sufficiency for Robotic Task Planning

This paper provides a formalization of what constitutes a sufficient scene graph for planning by modeling planning over scene graphs within an information-spaces framework through the definition of scene graph transition systems and relevant action semantics for navigation and manipulation.

Basak Sakçak, Francesco Verdoja · 0 citations