6 papers
Yggdrasil: a Layer-First 3D Scene Graph for Real-Time Querying
Arshia Akhavan, Ermanno Bartoli, Afnan Algharbi +3
Robotic agents use 3D scene graphs (3DSG) to perform tasks ranging from scene understanding to scene interaction. Although an extensive body of work addresses scene graph generatio…
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…
Long-Term Planning Around Humans in Domestic Environments with 3D Scene Graphs
Ermanno Bartoli, Dennis Rotondi, Kai O. Arras +1
Long-term planning for robots operating in domestic environments poses unique challenges due to the interactions between humans, objects, and spaces. Recent advancements in traject…
STREAK: Streaming Network for Continual Learning of Object Relocations under Household Context Drifts
Ermanno Bartoli, Fethiye Irmak Dogan, Iolanda Leite
In real-world settings, robots are expected to assist humans across diverse tasks and still continuously adapt to dynamic changes over time. For example, in domestic environments,…
Knowledge Acquisition and Completion for Long-Term Human-Robot Interactions using Knowledge Graph Embedding
E. Bartoli, F. Argenziano, V. Suriani +1
In Human-Robot Interaction (HRI) systems, a challenging task is sharing the representation of the operational environment, fusing symbolic knowledge and perceptions, between users…