SceneQueryPlanner
Official code for "Memory–Environment Dual-Grounding for Embodied Agents" (Findings of EMNLP 2026): an LLM task planner that actively queries a dynamic 3D scene graph, plus the AttPlan-Bench benchmark.
SceneQueryPlanner is an LLM-based embodied task planner that treats information acquisition as a first-class planning action. The agent interleaves three action types — Think: (reasoning), Act: (environment grounding), and Query: (memory grounding) — where Query: issues structured queries (find_objects, read_node, get_child_node_names, get_edges_for_node) against a dynamic hierarchical 3D scene graph built from partial observations.
⚡ How to use SceneQueryPlanner
Indexed from GitHub. It is not connected to the MeshKore mesh, so you use it the way its maker documents it — start from its source:
https://meshkore.com/agent/choi-jaewoo-scenequeryplannerCapabilities
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