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

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

Planning in complex environments requires task specifications grounded in representations that capture objects, relations, and affordances; scene graphs meet this need, but their size in large environments hinders efficient planning. While task-aware pruning and hierarchical abstractions have been explored, a general, task-centric formalization of what constitutes a sufficient scene graph for planning remains open. This paper provides such a formalization by modeling planning over scene graphs within an information-spaces framework through the definition of scene graph transition systems and r

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