Author

Lukas Schmid

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Preprint Sep 2026

Probabilistic Scene Graphs: Hierarchical Representation and Real-time System

3D scene graphs provide semantically rich and hierarchical representations for robot perception. However, existing systems do not maintain uncertainty as an explicit belief or propagate it through the operations that construct and refine the graph. We introduce Probabilistic Scene Graph (PSG), a generalization of the c...

Waqas Ali, Michele Antonazzi, Timon Homberger et al. · 0 citations

Preprint Sep 2026

What do VLM-Based Vision-Language Navigation Models Rely on: Interpreting and Steering Policy Behavior

This work uses intervention-based metrics that measure how visual observations, instructions, and visual memory causally influence navigation decisions and shows that these navigation policies are sensitive to all input modalities and do not depend on a single one.

Débora Oliveira Makowski, Samiran Gode, Abhijeet Nayak et al. · 0 citations