PORTER: Edge-Cloud Residency for Persistent 3D Scene Graph Memory

arXiv:2609.33258 · cs.RO, cs.CV · Submitted 2026-09-27 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-27

Updated: 2026-09-27

Terminology

• Redundancy — 15× in this paper · explained in 2 episodes
• Embeddings — 10× in this paper · explained in 2 episodes
• Ablation — 8× in this paper · explained in 1 episode
• Irreplaceable Support Erasure — 8× in this paper
• Abstraction — 7× in this paper · explained in 1 episode
• Core — 6× in this paper · explained in 2 episodes
• Accuracy — 5× in this paper · explained in 1 episode
• Aggregation — 5× in this paper · explained in 1 episode
• Benchmark — 5× in this paper · explained in 2 episodes
• Generative AI — 4× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 4× in this paper
• Calibration — 3× in this paper · explained in 7 episodes
• Grounding — 3× in this paper · explained in 3 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Point Clouds — 2× in this paper · explained in 2 episodes
• Task Decomposition — 2× in this paper · explained in 2 episodes
• AI Agents — 1× in this paper · explained in 2 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Clustering — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes
• Pruning — 1× in this paper · explained in 4 episodes
• RAG — 1× in this paper · explained in 3 episodes
• Resource Constraints — 1× in this paper · explained in 3 episodes
• Task Planning — 1× in this paper · explained in 2 episodes

Sources

• Just-In-Time Scene Graph Growth: Combating Perceptual Saturation in Long-Horizon Robotics
• PSG-Nav: Probabilistic Scene Graph Navigation via Multiverse Decision Making
• CoWs on Pasture: Baselines and Benchmarks for Language-Driven Zero-Shot Object Navigation
• Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization
• ConceptFusion: Open-set Multimodal 3D Mapping
• Bayesian Fields: Task-driven Open-Set Semantic Gaussian Splatting
• FOUND-IT: Foundation-model-first Task-driven 3D Scene Graphs with Granularity on Demand
• Relationship-Aware Hierarchical 3D Scene Graph for Task Reasoning
• SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning
• 3D Scene Graphs: Open Challenges and Future Directions
• GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering
• Exploring Bottlenecks in VLM-LLM Navigation: How 3D Scene Understanding Capability Impacts Zero-Shot VLN

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