{
  "abstract": "A computer-implemented method, apparatus and system is provided for robotic task completion from natural language requests. The method may include: receiving a natural language command, processing the natural language command with a generative large language model to extract an intent and associated context, creating a three-dimensional (3D) open-vocabulary semantic scene graph of the environment, associating the scene graph with the intent and associated context, creating, based at least in part on the scene graph, an execution plan comprising a sequence of actions to complete the natural language command, and generating executable code or tool calls corresponding to one or more actions in the sequence of actions, and controlling one or more robotic manipulators and/or actuators to perform one or more actions of the sequence of actions based on the execution plan.",
  "assignees": [
    "UNIV JOHNS HOPKINS"
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  "authors": [
    "BADGER ANDREW R",
    "HANDELMAN DAVID A",
    "HOLMES EMMA A",
    "PAUL WILLIAM A",
    "RIVERA CORBAN G"
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  "title": "Robotic task completion from natural language requests",
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