4 papers · 1 filter
GESTO: Human-Centric Spatio-Temporal Memory for Reasoning in Dynamic Scenes
Ermanno Bartoli, Buwei He, Dennis Rotondi +6
Robots operating in human environments need memories that capture not only what objects exist and where, but also how people use them over time and how individual interactions comp…
Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots
Ermanno Bartoli, Dennis Rotondi, Buwei He +3
Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs…
KeySG: Hierarchical Keyframe-Based 3D Scene Graphs
Abdelrhman Werby, Dennis Rotondi, Fabio Scaparro +1
In recent years, 3D scene graphs have emerged as a powerful world representation, offering both geometric accuracy and semantic richness. Combining 3D scene graphs with large langu…
FunGraph: Functionality Aware 3D Scene Graphs for Language-Prompted Scene Interaction
Dennis Rotondi, Fabio Scaparro, Hermann Blum +1
The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coar…