Pandora: Articulated 3D Scene Graphs from Egocentric Vision

ArXi:2603.28732v1 Announce Type: cross Robotic mapping systems typically approach building metric-semantic scene representations from the robot's own sensors and cameras. However, these "first person" maps inherit the robot's own limitations due to its embodiment or skillset, which may leave many aspects of the environment unexplored. For example, the robot might not be able to open drawers or access wall cabinets. In this sense, the map representation is not as complete, and requires a capable robot to fill in the gaps.