Author

Iolanda Leite

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Preprint Sep 2026

Yggdrasil: a Layer-First 3D Scene Graph for Real-Time Querying

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 generation, little attention has been paid to optimizing the graph for consumption, which leaves state-of-the-art perception pipelines to work around...

Arshia Akhavan, Ermanno Bartoli, Afnan Algharbi 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