Paper Citation Record · LEDGER

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots

As of 13 August 2026, this Paper Citation Record lists 47 of 47 outbound references and 1 inbound Pith citation observation for arXiv:2509.24966.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2509.24966 v2

Coverage vector

measured 47 of 47 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-04T13:51:23.064676Z

measured 48 of 48 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-12T06:34:41.77262+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-06-27T04:16:43.734503Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: arxiv_reference, observed 2026-07-03T17:18:44.238780Z

Reference resolution

47 of 47 outbound references displayed

verified exact0
verified fuzzy0
unresolved47
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 24a92ee3-1f33-4317-8630-57e3c1a22b10 · outbound

This paper cites Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age,

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.865950Z

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Observation d78c8502-ca04-43bc-953f-30fd65909ab5 · outbound

This paper cites 3d scene graph: A structure for unified semantics, 3d space, and camera,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots 3d scene graph: A structure for unified semantics, 3d space, and camera,

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.872533Z

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Observation b83141a8-6f80-4e5d-bb3b-9fc1f0483f59 · outbound

This paper cites 3-d scene graph: A sparse and semantic representation of physical environments for intelligent agents,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots 3-d scene graph: A sparse and semantic representation of physical environments for intelligent agents,

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.877937Z

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Observation 03fabccf-5902-4589-9822-30ffdce56125 · outbound

This paper cites Foundations of spatial perception for robotics: Hierarchical representations and real-time systems,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Foundations of spatial perception for robotics: Hierarchical representations and real-time systems,

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.885690Z

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Observation f5c58821-c4e3-4e65-b089-5df02876d3b0 · outbound

This paper cites Scannet: Richly-annotated 3d reconstructions of indoor scenes,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Scannet: Richly-annotated 3d reconstructions of indoor scenes,

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.895769Z

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Observation 160db19d-b328-484e-8d4e-7ed4c71068c7 · outbound

This paper cites The Replica dataset: A digital replica of indoor spaces,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots The Replica dataset: A digital replica of indoor spaces,

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.902159Z

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Observation 681a6a75-1317-469f-99f9-8f00d958727a · outbound

This paper cites ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Data.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Data

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.908064Z

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Observation 78c5416b-5a19-4220-acd2-bbd0d443218b · outbound

This paper cites Scannet++: A high-fidelity dataset of 3d indoor scenes,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Scannet++: A high-fidelity dataset of 3d indoor scenes,

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.913493Z

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Observation a39938b8-5306-4ade-820d-f25eea275b11 · outbound

This paper cites Open-V ocabulary Functional 3D Scene Graphs for Real-World Indoor Spaces,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Open-V ocabulary Functional 3D Scene Graphs for Real-World Indoor Spaces,

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.920997Z

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Observation 54efa4cf-f06c-46be-9e3c-dbc5ba472332 · outbound

This paper cites Kimera: From slam to spatial perception with 3d dynamic scene graphs,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Kimera: From slam to spatial perception with 3d dynamic scene graphs,

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.927346Z

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Observation 9406a2a8-0d04-4fe3-a415-842d4cde21e6 · outbound

This paper cites Hydra: A real-time spatial perception system for 3d scene graph construction and optimization,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Hydra: A real-time spatial perception system for 3d scene graph construction and optimization,

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.941101Z

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Observation 08125f3d-2fb1-457b-94d5-204428bae200 · outbound

This paper cites Clio: Real-time task-driven open-set 3d scene graphs,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Clio: Real-time task-driven open-set 3d scene graphs,

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.956485Z

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Observation 5e56b9d3-6c25-4918-905c-1508ad712af0 · outbound

This paper cites Conceptgraphs: Open-vocabulary 3d scene graphs for perception and planning,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Conceptgraphs: Open-vocabulary 3d scene graphs for perception and planning,

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.967135Z

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Observation ec5e141e-5134-4b50-97c1-8ec3db901a22 · outbound

This paper cites Hierarchical open-vocabulary 3d scene graphs for language-grounded robot navigation,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Hierarchical open-vocabulary 3d scene graphs for language-grounded robot navigation,

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.977339Z

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Observation 725d912c-a043-43bb-b017-948dea5493c0 · outbound

This paper cites Fungraph: Functionality aware 3d scene graphs for language-prompted scene interaction,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Fungraph: Functionality aware 3d scene graphs for language-prompted scene interaction,

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:21.990420Z

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Observation efb73e8d-7d4c-422b-ad79-c181f8898863 · outbound

This paper cites Learning 3D Semantic Scene Graphs from 3D Indoor Reconstructions,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Learning 3D Semantic Scene Graphs from 3D Indoor Reconstructions,

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.010655Z

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Observation 832e5837-2085-43d2-be86-c1a5daa654d4 · outbound

This paper cites Scenegraph- fusion: Incremental 3d scene graph prediction from rgb-d sequences,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Scenegraph- fusion: Incremental 3d scene graph prediction from rgb-d sequences,

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.035096Z

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Observation 5638e3ec-1129-4292-a01b-e67a4d4edd08 · outbound

This paper cites Knowledge-inspired 3d scene graph prediction in point cloud,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Knowledge-inspired 3d scene graph prediction in point cloud,

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.056376Z

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Observation 699f8088-52a7-43ea-9cac-e9a15d8c8bd4 · outbound

This paper cites Vl- sat: Visual-linguistic semantics assisted training for 3d semantic scene graph prediction in point cloud,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Vl- sat: Visual-linguistic semantics assisted training for 3d semantic scene graph prediction in point cloud,

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.073266Z

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Observation d5051a06-df15-4b3a-8de5-5182821e6e02 · outbound

This paper cites Open3dsg: Open-vocabulary 3d scene graphs from point clouds with queryable objects and open-set relationships,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Open3dsg: Open-vocabulary 3d scene graphs from point clouds with queryable objects and open-set relationships,

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.087453Z

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Observation b7691b61-4ee7-4f60-a1ab-bd1b0c12955d · outbound

This paper cites Scene graph generation by iterative message passing,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Scene graph generation by iterative message passing,

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.109854Z

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Observation 02d2e4b8-2287-4847-b728-a714408918f1 · outbound

This paper cites On the difficulty of training recurrent neural networks,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots On the difficulty of training recurrent neural networks,

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.150497Z

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Observation fe20c29d-d85c-4163-96ee-de10e4f2d933 · outbound

This paper cites 3d dynamic scene graphs: Actionable spatial perception with places, objects, and humans,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots 3d dynamic scene graphs: Actionable spatial perception with places, objects, and humans,

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.165473Z

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Observation 6aead8c4-d1e0-482f-9197-1e85f5fb0218 · outbound

This paper cites Hierarchical representations and explicit memory: Learning effective navigation policies on 3d scene graphs using graph neural networks,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Hierarchical representations and explicit memory: Learning effective navigation policies on 3d scene graphs using graph neural networks,

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.180184Z

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Observation 7dcd3069-3145-4760-a7e8-a22341b3fa7f · outbound

This paper cites Long-term human trajectory prediction using 3d dynamic scene graphs,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Long-term human trajectory prediction using 3d dynamic scene graphs,

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.195544Z

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Observation 907156fa-5803-430c-9f0a-7cdd7d86ead6 · outbound

This paper cites Taskography: Evaluating robot task planning over large 3d scene graphs,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Taskography: Evaluating robot task planning over large 3d scene graphs,

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.210084Z

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Observation 5cd045e6-7d64-4c0b-9fe9-ca71448fc3da · outbound

This paper cites Anticipatory planning for performant long-lived robot in large-scale home-like environments,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Anticipatory planning for performant long-lived robot in large-scale home-like environments,

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.221602Z

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Observation fdbb7362-d6c6-4cb4-b79c-5f6022895b25 · outbound

This paper cites Sayplan: Grounding large language models using 3d scene graphs for scalable robot task planning,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Sayplan: Grounding large language models using 3d scene graphs for scalable robot task planning,

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.235950Z

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Observation d4e7407c-ac7c-4869-9d32-beeeb18fd248 · outbound

This paper cites Delta: Decomposed efficient long-term robot task planning using large lan- guage models,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Delta: Decomposed efficient long-term robot task planning using large lan- guage models,

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.250474Z

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Observation a67d81ce-fbe2-49cc-9669-45e1bdb1ad7f · outbound

This paper cites Saynav: Grounding large language models for dynamic planning to navigation in new environments,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Saynav: Grounding large language models for dynamic planning to navigation in new environments,

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.271121Z

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Observation eb6b97fe-9766-40c3-b707-3254a75248f1 · outbound

This paper cites Sg-nav: Online 3d scene graph prompting for llm-based zero-shot object navigation,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Sg-nav: Online 3d scene graph prompting for llm-based zero-shot object navigation,

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.293642Z

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Observation 2ada628d-23fa-4614-a1cc-64f7b492738c · outbound

This paper cites Core challenges of social robot navigation: A survey,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Core challenges of social robot navigation: A survey,

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.306147Z

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Observation 66bf469a-a055-4596-92bb-b7c5ddc86f2d · outbound

This paper cites Learning socially normative robot naviga- tion behaviors with bayesian inverse reinforcement learning,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Learning socially normative robot naviga- tion behaviors with bayesian inverse reinforcement learning,

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.320859Z

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Observation 754e27d9-3c72-42c7-913e-7d61750d2124 · outbound

This paper cites A human aware mobile robot motion planner,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots A human aware mobile robot motion planner,

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.337588Z

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Observation a358af54-ee76-4942-954d-58ed1d567a08 · outbound

This paper cites Proactive model predictive control with multi-modal human motion prediction in cluttered dynamic environments,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Proactive model predictive control with multi-modal human motion prediction in cluttered dynamic environments,

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.349439Z

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Observation d779a0a9-4ec5-46f9-98ce-51225d4a2d79 · outbound

This paper cites Moka: Open-world robotic manipulation through mark-based visual prompting,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Moka: Open-world robotic manipulation through mark-based visual prompting,

Reference 36

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.374976Z

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Unavailable: canonical work link unavailable.

Observation 247dcb3c-29ca-44a0-ae25-0fc9edadf0a1 · outbound

This paper cites Detection and quantification of occlusion for 3d human pose and shape estimation,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Detection and quantification of occlusion for 3d human pose and shape estimation,

Reference 37

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.418979Z

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Observation c5668543-2a47-48a4-9c27-087663f1bcd9 · outbound

This paper cites Spatialrgpt: Grounded spatial reasoning in vision-language models,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Spatialrgpt: Grounded spatial reasoning in vision-language models,

Reference 38

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.495841Z

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Unavailable: canonical work link unavailable.

Observation 0252cc4a-332c-4850-9393-016f42d11d8c · outbound

This paper cites Verbatlas: a novel large-scale verbal semantic resource and its application to semantic role labeling,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Verbatlas: a novel large-scale verbal semantic resource and its application to semantic role labeling,

Reference 39

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.534792Z

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Unavailable: canonical work link unavailable.

Observation b47be5a5-4257-4eba-9ad1-6d457cf634ec · outbound

This paper cites Nounatlas: Filling the gap in nominal semantic role la- beling,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Nounatlas: Filling the gap in nominal semantic role la- beling,

Reference 40

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.603509Z

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Unavailable: canonical work link unavailable.

Observation d273e3d8-cc6f-4d18-adc5-516bdeca253e · outbound

This paper cites Yolo-world: Real-time open-vocabulary object detection,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Yolo-world: Real-time open-vocabulary object detection,

Reference 41

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.664266Z

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Unavailable: canonical work link unavailable.

Observation 16549393-937b-4f74-ab13-5f391bec5d30 · outbound

This paper cites Segment anything,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Segment anything,

Reference 42

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.738654Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e80f1db3-a0bd-46d1-b566-e39be4ed4e14 · outbound

This paper cites Mobilenets: Efficient convolutional neural networks for mobile vision applications,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Mobilenets: Efficient convolutional neural networks for mobile vision applications,

Reference 43

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.786968Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fade025f-d065-468d-afe4-e58298c71978 · outbound

This paper cites Toward robust and unconstrained full range of rotation head pose estimation,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Toward robust and unconstrained full range of rotation head pose estimation,

Reference 44

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.849551Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a84d6f52-b482-4f7a-9761-68f4309139af · outbound

This paper cites GPT-4 Technical Report.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots GPT-4 Technical Report

Reference 45

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.914994Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation cc372add-a673-45ac-aed2-6baf9b5745fa · outbound

This paper cites Learning transferable visual models from natural language supervi- sion,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Learning transferable visual models from natural language supervi- sion,

Reference 46

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:22.990141Z

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Unavailable: canonical work link unavailable.

Observation cecd8de4-8e00-4eda-bcba-19ca44c8becf · outbound

This paper cites Ufomap: An efficient probabilistic 3d mapping framework that embraces the unknown,.

Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots Ufomap: An efficient probabilistic 3d mapping framework that embraces the unknown,

Reference 47

Resolution: unresolved; no resolver link, observed 2026-08-04T13:51:23.064676Z

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Unavailable: canonical work link unavailable.

Pith citing papers

Observation 448c2fc4-5997-4387-9b25-fc15a662d28c · inbound

3D Scene Graphs: Open Challenges and Future Directions cites this paper.

3D Scene Graphs: Open Challenges and Future Directions Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots

Reference 8

Resolution: verified exact; arxiv_id, observed 2026-07-08T02:18:07.536970Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.