A service robot fuses a global static scene graph with live local relation graphs and uses an LLM to reason, enabling autonomous delivery and cleanup in dynamic buildings.
Hybrid topological and 3d dense mapping through autonomous explo- ration for large indoor environments
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Hi-Dyna Graph: Hierarchical Dynamic Scene Graph for Robotic Autonomy in Human-Centric Environments
A service robot fuses a global static scene graph with live local relation graphs and uses an LLM to reason, enabling autonomous delivery and cleanup in dynamic buildings.