AI RESEARCH
SG-DOR: Learning Scene Graphs with Direction-Conditioned Occlusion Reasoning for Pepper Plants
arXiv CS.CV
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ArXi:2603.06512v1 Announce Type: cross Robotic harvesting in dense crop canopies requires effective interventions that depend not only on geometry, but also on explicit, direction-conditioned relations identifying which organs obstruct a target fruit. We present SG-DOR (Scene Graphs with Direction-Conditioned Occlusion Reasoning), a relational framework that, given instance-segmented organ point clouds, infers a scene graph encoding physical attachments and direction-conditioned occlusion. We.