@article{sayplangroundinglargelanguagemodelsusing,
  title = {SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning},
  author = {Krishan Rana and Jesse Haviland and Sourav Garg and Jad Abou-Chakra and Ian Reid and Niko Suenderhauf},
  year = {2023},
  eprint = {2307.06135},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2307.06135v2},
}