Author

Dennis Rotondi

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Preprint Sep 2026

FunArt: Decoding Functional Structure and Articulation from Generative 3D Latents

FunArt is presented, a framework that constructs articulation-aware functional 3D scene graphs from posed RGB-D observations captured in a single static configuration, demonstrating that generative 3D latents encode actionable structural cues that can initialize robotic perception and planning before physical interacti...

Dennis Rotondi, Abdelrhman Werby, Kai O. Arras · 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