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cs.RO2026
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…
cs.CV2026
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…