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demonstration data 1just-in-time perception 1llm integration 1long-horizon robotics 1manipulation 1memory activation 1progress estimation 1scene graphs 1unsupervised learning 1value correction 1

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cs.CV2026

Just-In-Time Scene Graph Growth: Combating Perceptual Saturation in Long-Horizon Robotics

Yue Chang, Rufeng Chen, Yifan Tian +7

The paper introduces JITOMA, a framework that builds 3D scene graphs on demand by using task-driven heatmaps and large language models to activate only relevant parts of the graph,…