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SG-AMP: Scene-Graph-Guided Active Perception and Semantics-Aware Motion Planning for Pepper Plants

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

We present SG-AMP, integrating robust depth completion with input-conditioned uncertainty, persistent panoptic mapping, plant scene-graph reasoning, and semantics-aware active view-motion planning. Beyond inspecting uncertain observed regions, the scene graph explicitly hypothesizes unobserved pepper--peduncle attachments and directs close-range sensing toward them. Candidate views are selected according to expected information gain, while class-dependent motion costs distinguish protected peppers, peduncles, and stems from conditionally traversable foliage. On pepper data, the perception netw

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