Author

Sebastian Koch

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Preprint Sep 2026

GraphWrit3R: End-to-End 3D Scene Graph Writing

This work presents GraphWrit3R, a simple end-to-end method that takes a 3D point cloud, Gaussian Splats, or a combination of both as input, and directly outputs a complete scene graph as a structured JSON script, achieving state-of-the-art performance on object class, predicate, and triplet recall on the 3DSSG benchmar...

Luka Milivojevic, Nikola Popovic, Sayan Deb Sarkar 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