{"id":"https://openalex.org/W4416747944","doi":"https://doi.org/10.1109/iros60139.2025.11246569","title":"DynamicGSG: Dynamic 3D Gaussian Scene Graphs for Environment Adaptation","display_name":"DynamicGSG: Dynamic 3D Gaussian Scene Graphs for Environment Adaptation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416747944","doi":"https://doi.org/10.1109/iros60139.2025.11246569"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","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/A5037007371","display_name":"L. Ge","orcid":"https://orcid.org/0009-0006-8188-4507"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Luzhou Ge","raw_affiliation_strings":["Beijing Institute of Technology,School of Computer Science,China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Computer Science,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100632827","display_name":"Xiangyu Zhu","orcid":"https://orcid.org/0000-0003-2756-401X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyu Zhu","raw_affiliation_strings":["Beijing Institute of Technology,School of Computer Science,China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Computer Science,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100690534","display_name":"Zhuo Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuo Yang","raw_affiliation_strings":["Beijing Institute of Technology,School of Computer Science,China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Computer Science,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100449095","display_name":"Xuesong Li","orcid":"https://orcid.org/0000-0003-1570-277X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuesong Li","raw_affiliation_strings":["Beijing Institute of Technology,School of Computer Science,China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Computer Science,China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037007371"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":1.33,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.86579749,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2232","last_page":"2239"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9027000069618225,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9027000069618225,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.024800000712275505,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.02410000003874302,"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/gaussian","display_name":"Gaussian","score":0.5745000243186951},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.5123000144958496},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.48669999837875366},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4440999925136566},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.44350001215934753},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4415000081062317},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4300999939441681}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7993999719619751},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5745000243186951},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5604000091552734},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.5123000144958496},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.48669999837875366},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4440999925136566},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.44350001215934753},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4415000081062317},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4359000027179718},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4300999939441681},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42739999294281006},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.413100004196167},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.36079999804496765},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.31310001015663147},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.3127000033855438},{"id":"https://openalex.org/C2781122975","wikidata":"https://www.wikidata.org/wiki/Q16928266","display_name":"Semantic feature","level":2,"score":0.30489999055862427},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.27790001034736633},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2587999999523163},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.25369998812675476},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2515000104904175}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2085261163","https://openalex.org/W2594519801","https://openalex.org/W2745859992","https://openalex.org/W2887564721","https://openalex.org/W3039925688","https://openalex.org/W4283332944","https://openalex.org/W4385318467","https://openalex.org/W4390873101","https://openalex.org/W4390873312","https://openalex.org/W4390874575","https://openalex.org/W4391743427","https://openalex.org/W4393248012","https://openalex.org/W4400904825","https://openalex.org/W4401414715","https://openalex.org/W4402354022","https://openalex.org/W4402698355","https://openalex.org/W4402715988","https://openalex.org/W4402716047","https://openalex.org/W4402727529","https://openalex.org/W4402727865","https://openalex.org/W4402917081","https://openalex.org/W4403770187","https://openalex.org/W4404002612","https://openalex.org/W4404520250","https://openalex.org/W4404612908","https://openalex.org/W4408100258","https://openalex.org/W4413981576"],"related_works":[],"abstract_inverted_index":{"In":[0,154],"real-world":[1,166],"scenarios,":[2],"environment":[3,41,48,124,128],"changes":[4,49,125],"caused":[5],"by":[6],"human":[7],"or":[8],"agent":[9],"activities":[10],"make":[11],"it":[12],"extremely":[13],"challenging":[14],"for":[15,126],"robots":[16],"to":[17,26,31,35,38,47,86,104,122],"perform":[18],"various":[19],"long-term":[20,127],"tasks.":[21],"Recent":[22],"works":[23],"typically":[24],"struggle":[25],"effectively":[27],"understand":[28],"and":[29,50,91,114,131,137,151,172],"adapt":[30],"dynamic":[32,159],"environments":[33],"due":[34],"the":[36,56,88,97,111,117,135,158],"inability":[37],"update":[39],"their":[40],"representations":[42],"in":[43,45,96,143],"memory":[44],"response":[46],"lack":[51],"of":[52,55,139,145,162],"fine-grained":[53],"reconstruction":[54,152],"environments.":[57],"To":[58],"address":[59],"these":[60],"challenges,":[61],"we":[62,156],"propose":[63],"DynamicGSG,":[64],"a":[65,100],"dynamic,":[66],"high-fidelity,":[67],"open-vocabulary":[68],"scene":[69,79,119],"graph":[70],"construction":[71],"system":[72,164],"leveraging":[73],"Gaussian":[74,106,112,118],"Splatting.":[75],"DynamicGSG":[76],"builds":[77],"hierarchical":[78],"graphs":[80,120],"using":[81],"advanced":[82],"vision":[83],"language":[84],"models":[85],"represent":[87],"spatial":[89],"hierarchy":[90],"semantic":[92,146],"relationships":[93],"between":[94],"objects":[95],"environments,":[98],"utilizes":[99],"joint":[101],"feature":[102],"loss":[103],"supervise":[105],"instance":[107],"grouping":[108],"while":[109],"optimizing":[110],"maps,":[113],"locally":[115],"updates":[116],"according":[121],"real":[123],"adaptation.":[129],"Experiments":[130],"ablation":[132],"studies":[133],"demonstrate":[134],"performance":[136],"efficacy":[138],"our":[140,163],"proposed":[141],"method":[142],"terms":[144],"segmentation,":[147],"language-guided":[148],"object":[149],"retrieval,":[150],"quality.":[153],"addition,":[155],"validate":[157],"updating":[160],"capabilities":[161],"within":[165],"laboratory":[167],"settings.":[168],"The":[169],"source":[170],"code":[171],"supplementary":[173],"materials":[174],"will":[175],"be":[176],"available":[177],"at:":[178],"https://github.com/GeLuzhou/Dynamic-Gsg.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-11-28T00:00:00"}