{"id":"https://openalex.org/W4413945312","doi":"https://doi.org/10.1109/icra55743.2025.11128194","title":"Interaction-Driven Updates: 3D Scene Graph Maintenance During Robot Task Execution","display_name":"Interaction-Driven Updates: 3D Scene Graph Maintenance During Robot Task Execution","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945312","doi":"https://doi.org/10.1109/icra55743.2025.11128194"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100349222","display_name":"Qingfeng Li","orcid":"https://orcid.org/0000-0002-3603-7580"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingfeng Li","raw_affiliation_strings":["Beihang University,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085140019","display_name":"Xinlei Zhang","orcid":"https://orcid.org/0009-0008-6836-2928"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinlei Zhang","raw_affiliation_strings":["Beihang University,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100418433","display_name":"Chen Chen","orcid":"https://orcid.org/0000-0002-3525-9755"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Chen","raw_affiliation_strings":["Hangzhou Innovation Institute of Beihang University,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hangzhou Innovation Institute of Beihang University,Hangzhou,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061114972","display_name":"Haochen Zhao","orcid":"https://orcid.org/0000-0001-8794-3148"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haochen Zhao","raw_affiliation_strings":["Beihang University,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053316728","display_name":"Jianwei Niu","orcid":"https://orcid.org/0000-0003-3946-5107"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianwei Niu","raw_affiliation_strings":["Beihang University,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23599944,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11933","last_page":"11939"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9641000032424927,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9641000032424927,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9552000164985657,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9527000188827515,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7980173826217651},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6382610201835632},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6015421152114868},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5033463835716248},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5014357566833496},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2931722104549408},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.0964556634426117},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.093390554189682}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7980173826217651},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6382610201835632},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6015421152114868},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5033463835716248},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5014357566833496},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2931722104549408},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.0964556634426117},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.093390554189682},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128194","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4921341775","display_name":null,"funder_award_id":"2023YFB4503701","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1979223226","https://openalex.org/W2041620409","https://openalex.org/W2132022337","https://openalex.org/W2412846155","https://openalex.org/W2507412359","https://openalex.org/W2963646814","https://openalex.org/W2967353954","https://openalex.org/W2990129662","https://openalex.org/W3034201026","https://openalex.org/W3035154952","https://openalex.org/W3118885154","https://openalex.org/W3130044230","https://openalex.org/W3183042936","https://openalex.org/W3186380594","https://openalex.org/W3207711849","https://openalex.org/W3216425555","https://openalex.org/W4226236972","https://openalex.org/W4283332944","https://openalex.org/W4312878643","https://openalex.org/W4383097638","https://openalex.org/W4390874280","https://openalex.org/W4394631207","https://openalex.org/W4394828156","https://openalex.org/W4401414715","https://openalex.org/W4401416243","https://openalex.org/W4401417232","https://openalex.org/W4405787186"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W3196817267","https://openalex.org/W1976600725"],"abstract_inverted_index":{"Robots":[0],"powered":[1],"by":[2,13],"large":[3],"language":[4],"model":[5],"(LLM)":[6],"demonstrate":[7,199],"significant":[8],"research":[9],"and":[10,83,101,175,186,193,204],"application":[11],"potential":[12],"effectively":[14,203],"interpreting":[15],"scene":[16,29,50,70,86,96,106,139,167,211],"information":[17,30,107,154],"to":[18,20,39,63,67,103,147,156,164],"respond":[19],"human":[21],"commands.":[22],"However,":[23],"when":[24],"robots":[25,163],"rely":[26],"on":[27],"static":[28,105],"during":[31],"task":[32,177],"execution,":[33],"they":[34],"face":[35],"difficulties":[36],"in":[37,41,172,194],"adapting":[38],"changes":[40],"the":[42,54,78,84,91,94,109,113,123,130,133,137,144,151,157,184,190],"environment,":[43],"posing":[44],"a":[45],"major":[46],"challenge":[47],"for":[48,117],"dynamic":[49,69,85,138,166,210],"perception.":[51],"To":[52],"address":[53],"above":[55],"issues,":[56],"we":[57],"propose":[58],"an":[59],"innovative":[60],"interaction-driven":[61],"approach":[62,73,161],"enhance":[64],"robots'":[65,207],"ability":[66],"perceive":[68,104],"information.":[71,212],"This":[72,160],"consists":[74],"of":[75,132,209],"two":[76],"contributions,":[77],"observation":[79,115,124,135],"point":[80,116,125],"selection":[81,126],"module":[82,141],"maintenance":[87,140],"module.":[88,127],"Specifically,":[89],"first,":[90],"robot":[92],"uses":[93],"3D":[95],"graph":[97],"(3DSG)":[98],"containing":[99],"assets":[100],"objects":[102,146],"through":[108,122],"LLM":[110],"planner.":[111],"Next,":[112],"best":[114,134],"each":[118],"asset":[119,158],"is":[120],"obtained":[121],"Then,":[128],"with":[129,143],"help":[131],"point,":[136],"interacts":[142],"asset-related":[145],"dynamically":[148],"update":[149],"all":[150],"object":[152],"node":[153],"related":[155],"node.":[159],"enables":[162],"maintain":[165],"information,":[168],"enhancing":[169],"their":[170],"adaptability":[171],"unpredictable":[173],"environments":[174],"improving":[176],"reliability.":[178],"We":[179],"evaluated":[180],"our":[181,201],"method":[182,202],"using":[183],"iTHOR":[185],"RoboTHOR":[187],"datasets":[188],"within":[189],"AI2-THOR":[191],"simulator":[192],"real-world":[195],"scenarios.":[196],"Experimental":[197],"results":[198],"that":[200],"accurately":[205],"maintains":[206],"perception":[208]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}