AI RESEARCH
KeySG: Hierarchical Keyframe-Based 3D Scene Graphs
arXiv CS.CV
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ArXi:2510.01049v2 Announce Type: replace In recent years, 3D scene graphs have emerged as a powerful world representation, offering both geometric accuracy and semantic richness. Combining 3D scene graphs with large language models enables robots to reason, plan, and navigate in complex human-centered environments. However, current approaches for constructing 3D scene graphs are semantically limited to a predefined set of relationships, and their serialization in large environments can easily exceed an LLM's context window. We