{"id":"https://openalex.org/W7147112221","doi":"https://doi.org/10.48550/arxiv.2603.28732","title":"Pandora: Articulated 3D Scene Graphs from Egocentric Vision","display_name":"Pandora: Articulated 3D Scene Graphs from Egocentric Vision","publication_year":2026,"publication_date":"2026-03-30","ids":{"openalex":"https://openalex.org/W7147112221","doi":"https://doi.org/10.48550/arxiv.2603.28732"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2603.28732","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2603.28732","pdf_url":"https://arxiv.org/pdf/2603.28732","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2603.28732","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132691263","display_name":"Alan Yu","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Alan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082750695","display_name":"Yun Chang","orcid":"https://orcid.org/0000-0002-2829-5256","observed_orcids":["https://orcid.org/0000-0002-2829-5256"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chang, Yun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011715672","display_name":"Christopher Xie","orcid":"https://orcid.org/0000-0002-1027-1010","observed_orcids":["https://orcid.org/0000-0002-1027-1010"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Christopher","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":"https://orcid.org/0000-0003-1884-5397","observed_orcids":["https://orcid.org/0000-0003-1884-5397"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Carlone, Luca","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6996999979019165,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6996999979019165,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.19449999928474426,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.051600001752376556,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/egocentric-vision","display_name":"egocentric vision","score":0.9079999923706055},{"id":"https://openalex.org/keywords/object-dynamics","display_name":"object dynamics","score":0.7120000123977661},{"id":"https://openalex.org/keywords/mobile-manipulation","display_name":"mobile manipulation","score":0.9160000085830688},{"id":"https://openalex.org/keywords/boston-dynamics-spot","display_name":"Boston Dynamics Spot","score":0.7490000128746033}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7376999855041504},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7289000153541565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7235999703407288},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6679999828338623},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5041999816894531},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4918000102043152},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4442000091075897},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.42829999327659607},{"id":"https://openalex.org/C179372163","wikidata":"https://www.wikidata.org/wiki/Q1406181","display_name":"Scene graph","level":3,"score":0.4162999987602234},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3774000108242035},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3756999969482422},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.30300000309944153},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.28780001401901245},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.27639999985694885},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.27379998564720154},{"id":"https://openalex.org/C2779337067","wikidata":"https://www.wikidata.org/wiki/Q4800961","display_name":"Articulation (sociology)","level":3,"score":0.2718999981880188},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.25540000200271606}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2603.28732","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2603.28732","pdf_url":"https://arxiv.org/pdf/2603.28732","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2603.28732","doi":"https://doi.org/10.48550/arxiv.2603.28732","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28732","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2603.28732","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2603.28732","pdf_url":"https://arxiv.org/pdf/2603.28732","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7113438878","https://openalex.org/W7118021044","https://openalex.org/W7222931553","https://openalex.org/W7162459488","https://openalex.org/W7130584412","https://openalex.org/W2306388698","https://openalex.org/W4297903107","https://openalex.org/W3207210614","https://openalex.org/W2287000794","https://openalex.org/W7213599933"],"abstract_inverted_index":{"Robotic":[0],"mapping":[1],"systems":[2],"typically":[3],"approach":[4],"building":[5],"metric-semantic":[6],"scene":[7,96,159,180,210],"representations":[8],"from":[9,110],"the":[10,22,38,43,59,75,111,208],"robot's":[11,23,184],"own":[12,24],"sensors":[13],"and":[14,66,170],"cameras.":[15],"However,":[16],"these":[17,79,155,177],"\"first":[18],"person\"":[19],"maps":[20],"inherit":[21],"limitations":[25],"due":[26],"to":[27,49,72,104,113,129,139,153,163,186],"its":[28],"embodiment":[29],"or":[30,52],"skillset,":[31],"which":[32],"may":[33],"leave":[34],"many":[35],"aspects":[36],"of":[37,132,141,167],"environment":[39],"unexplored.":[40],"For":[41],"example,":[42],"robot":[44,71],"might":[45],"not":[46,63],"be":[47],"able":[48],"open":[50],"drawers":[51],"access":[53],"wall":[54],"cabinets.":[55],"In":[56],"this":[57],"sense,":[58],"map":[60],"representation":[61],"is":[62,199],"as":[64,90,212],"complete,":[65],"requires":[67],"a":[68,91,95,102,164,183,195],"more":[69],"capable":[70],"fill":[73],"in":[74,82],"gaps.":[76],"We":[77,117,149,173],"narrow":[78],"blind":[80],"spots":[81],"current":[83],"methods":[84,143],"by":[85,120],"leveraging":[86],"egocentric":[87,127],"data":[88,128],"captured":[89],"human":[92,112],"naturally":[93],"explores":[94],"wearing":[97],"Project":[98],"Aria":[99],"glasses,":[100],"giving":[101],"way":[103],"directly":[105],"transfer":[106],"knowledge":[107],"about":[108],"articulation":[109],"any":[114],"deployable":[115],"robot.":[116],"demonstrate":[118,175],"that,":[119],"using":[121],"simple":[122],"heuristics,":[123],"we":[124],"can":[125],"leverage":[126],"recover":[130],"models":[131,156],"articulate":[133],"object":[134,168],"parts,":[135],"with":[136,201],"quality":[137],"comparable":[138],"those":[140],"state-of-the-art":[142],"based":[144],"on":[145],"other":[146],"input":[147],"modalities.":[148],"also":[150],"show":[151],"how":[152],"integrate":[154],"into":[157],"3D":[158,179,209],"graph":[160,211],"representations,":[161],"leading":[162],"better":[165],"understanding":[166],"dynamics":[169],"object-container":[171],"relationships.":[172],"finally":[174],"that":[176],"articulated":[178],"graphs":[181],"enhance":[182],"ability":[185],"perform":[187],"mobile":[188],"manipulation":[189],"tasks,":[190],"showcasing":[191],"an":[192],"application":[193],"where":[194],"Boston":[196],"Dynamics":[197],"Spot":[198],"tasked":[200],"retrieving":[202],"concealed":[203],"target":[204],"items,":[205],"given":[206],"only":[207],"input.":[213]},"counts_by_year":[],"updated_date":"2026-10-28T10:33:24.094632","created_date":"2026-04-02T00:00:00"}