Author

Yixi Cai

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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 Aug 2026

GESTO: Human-Centric Spatio-Temporal Memory for Reasoning in Dynamic Scenes

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 compose into goal-directed activities. Existing 4D scene graphs preserve object and place histories but omit activity structure, whereas activit...

Ermanno Bartoli, Buwei He, Dennis Rotondi et al. · 1 citation