Just-In-Time Scene Graph Growth: Combating Perceptual Saturation in Long-Horizon Robotics

arXiv:2607.13245 · cs.CV, cs.RO · Submitted 2026-07-14 · Read on arXiv

cs.CV, cs.RO

Submitted: 2026-07-14

Updated: 2026-09-27

Terminology

• Grounding — 22× in this paper · explained in 3 episodes
• Accuracy — 18× in this paper · explained in 1 episode
• Redundancy — 6× in this paper · explained in 2 episodes
• Benchmark — 5× in this paper · explained in 2 episodes
• Graph Construction — 4× in this paper · explained in 3 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Core — 3× in this paper · explained in 2 episodes
• Large Language Model — 3× in this paper
• Task Planning — 3× in this paper · explained in 2 episodes
• Affordance — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Distillation — 2× in this paper · explained in 2 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Just-In-Time On-demand Memory Activation — 2× in this paper
• Large Language Model (LLM) — 2× in this paper · explained in 3 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Vision-Language Models (VLMs) — 2× in this paper · explained in 6 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Active Working Memory — 1× in this paper · explained in 1 episode
• Computational overhead — 1× in this paper · explained in 2 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• RAG — 1× in this paper · explained in 3 episodes
• Time Per Frame — 1× in this paper

Sources

• Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization
• ConceptFusion: Open-set Multimodal 3D Mapping
• RAG-3DSG: Enhancing 3D Scene Graphs with Re-Shot Guided Retrieval-Augmented Generation
• FOUND-IT: Foundation-model-first Task-driven 3D Scene Graphs with Granularity on Demand
• Bayesian Fields: Task-driven Open-Set Semantic Gaussian Splatting
• MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning
• Articulated 3D Scene Graphs for Open-World Mobile Manipulation
• CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation
• PSG-Nav: Probabilistic Scene Graph Navigation via Multiverse Decision Making
• Exploring Bottlenecks in VLM-LLM Navigation: How 3D Scene Understanding Capability Impacts Zero-Shot VLN
• Relationship-Aware Hierarchical 3D Scene Graph for Task Reasoning

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