A 4D scene graph augmented with atomic human-object interactions and goal-driven events improves retrospective question answering about human activities in dynamic scenes.
Event-grounding graph: Uni- fied spatio-temporal scene graph from robotic observations,
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GESTO: Human-Centric Spatio-Temporal Memory for Reasoning in Dynamic Scenes
A 4D scene graph augmented with atomic human-object interactions and goal-driven events improves retrospective question answering about human activities in dynamic scenes.