arXiv AI August 11, 2026 By Yue Chang, Rufeng Chen, Zhaofan Zhang, Yi Chen, Yifan Tian, Sihong Xie

RAG-3DSG: Enhancing 3D Scene Graphs with Re-Shot Guided Retrieval-Augmented Generation

arXiv:2601. 10168v3 Announce Type: replace-cross Abstract: Open-vocabulary 3D Scene Graph (3DSG) can enhance various downstream tasks in robotics by leveraging structured semantic representations, yet current 3DSG construction methods suffer from semantic inconsistencies caused by noisy cross-image aggregation under occlusions and constrained viewpoints.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv AI.

arXiv Computer Vision

Aug 21

OP3DSG: Open-Vocabulary Part-Aware 3D Scene Graph Generation for Real-World Environments

arXiv:2606. 29786v2 Announce Type: replace Abstract: 3D scene graphs (3DSGs) provide a compact and structured abstraction of 3D environments.

By Yirum Kim, Ue-Hwan Kim

llms robotics benchmarks

arXiv AI

Jun 8

SCOUT: Semantic scene COverage via Uncertainty-guided Traversal

arXiv:2606. 06721v1 Announce Type: cross Abstract: Robots that operate over extended periods should not merely visit space; they should progressively understand it.

By Junyu Mao, Sara Ayoubi, Vishnu D. Sharma, Ilija Had\v{z}i\'c, Matthew Andrews

agents robotics

arXiv AI

Jul 2

DeWorldSG: Depth-Aware 3D Semantic Scene Graph Generation via World-Model Priors

arXiv:2607. 00889v1 Announce Type: cross Abstract: We present DeWorldSG, a novel framework that generates spatio-temporally robust 3D Semantic Scene Graphs from RGB-D sequences.

By Seok-Young Kim, Abdelrahman Elskhawy, Taewook Ha, Dooyoung Kim, Eunjae Shin, Benjamin Busam, Woontack Woo

robotics efficiency benchmarks

arXiv Computer Vision

Sep 22

Hierarchical Aggregation of Semantic Uncertainty in 3D Scene Graphs

arXiv:2609.22351v1 Announce Type: new Abstract: Open-vocabulary 3D Scene Graphs (3DSGs) ground each object node in a vision-language embedding, yet they record every entry as equally certain, so a ro...

By Carlos Cueto Zumaya, Iacopo Catalano, Wallace Moreira Bessa, Julio A. Placed

llms rag robotics multimodal benchmarks

arXiv Computer Vision

2d ago

3DROID: A Renderable 3D Gaussian Dataset with Measured Per-Scene Reliability

arXiv:2610.01744v1 Announce Type: new Abstract: Robot manipulation models primarily reason from 2D observations while acting in the 3D physical world. To bridge this gap, recent work has augmented ro...

By Wonguen Cho, Junhoo Lee, Nojun Kwak

robotics

Hugging Face Trending Papers

Jun 23

Compact Object-Level Representations with Open-Vocabulary Understanding for Indoor Visual Relocalization

Indoor visual relocalization plays a critical role in emerging spatial and embodied AI applications. However, prior research was predominantly devoted to low-level vision schemes, struggling to perceive scene semantics and compositions, which limits both interpretability and applicability.

computer-vision robotics multimodal safety

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Related stories

OP3DSG: Open-Vocabulary Part-Aware 3D Scene Graph Generation for Real-World Environments

SCOUT: Semantic scene COverage via Uncertainty-guided Traversal

DeWorldSG: Depth-Aware 3D Semantic Scene Graph Generation via World-Model Priors

Hierarchical Aggregation of Semantic Uncertainty in 3D Scene Graphs

3DROID: A Renderable 3D Gaussian Dataset with Measured Per-Scene Reliability

Compact Object-Level Representations with Open-Vocabulary Understanding for Indoor Visual Relocalization