FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning | Paper Citation Record

Observation 1a5d5c54-6b17-4a1f-a3a9-8a48e1597f29 · outbound

This paper cites GPT-4 Technical Report.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning GPT-4 Technical Report

Reference 1

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Observation 20795935-4418-4aea-be7e-24d6643ca3fd · outbound

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

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Taskography: Evaluating robot task planning over large 3d scene graphs

Reference 2

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Observation e1b8b18d-a704-4f1e-bd70-0f0c5bb7f821 · outbound

This paper cites pgmpy: A python toolkit for bayesian networks.Journal of Machine Learning Re- search, 25(265):1–8, 2024.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning pgmpy: A python toolkit for bayesian networks.Journal of Machine Learning Re- search, 25(265):1–8, 2024

Reference 3

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Observation 946ddde3-182b-41c0-9ed6-007e98367c27 · outbound

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

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning 3d scene graph: A structure for unified semantics, 3d space, and cam- era

Reference 4

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Observation f85d15ff-c153-4dfa-a784-3de66cbeb0b1 · outbound

This paper cites Embodiedrag: Dynamic 3d scene graph retrieval for efficient and scalable robot task planning, 2024.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Embodiedrag: Dynamic 3d scene graph retrieval for efficient and scalable robot task planning, 2024

Reference 5

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Observation 0d340eba-7f0b-4d48-bce9-6c29175488bc · outbound

This paper cites Emerg- ing properties in self-supervised vision transformers.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Emerg- ing properties in self-supervised vision transformers

Reference 6

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Observation 25c7d86f-0cf2-4d1f-b561-27b9d0391836 · outbound

This paper cites Vision transformers need registers, 2023.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Vision transformers need registers, 2023

Reference 7

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Observation 997a3b5d-15c4-4fd8-98cc-6185503c8dea · outbound

This paper cites SceneFun3D: Fine-Grained Functionality and Affordance Understanding in 3D Scenes.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning SceneFun3D: Fine-Grained Functionality and Affordance Understanding in 3D Scenes

Reference 8

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Observation 7fabe19a-48d0-4f72-bbb6-005b2d0a95a5 · outbound

This paper cites Bert: Pre-training of deep bidirectional trans- formers for language understanding.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Bert: Pre-training of deep bidirectional trans- formers for language understanding

Reference 9

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Observation b15d58bd-935b-46c9-bdcd-8c2bf43ca649 · outbound

This paper cites Spotlight: Robotic scene un- derstanding through interaction and affordance detection.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Spotlight: Robotic scene un- derstanding through interaction and affordance detection

Reference 10

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Observation 5c8a3bbf-0a17-45ca-8972-f67af7624f82 · outbound

This paper cites Collaborative dynamic 3d scene graphs for automated driving.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Collaborative dynamic 3d scene graphs for automated driving

Reference 11

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Observation efe067d8-4b45-4466-be14-e8e9ef30be69 · outbound

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

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Conceptgraphs: Open-vocabulary 3d scene graphs for per- ception and planning

Reference 12

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Observation 9f7ce85b-4e09-4b4f-a430-4ceb04acc5a1 · outbound

This paper cites On calibration of modern neural networks.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning On calibration of modern neural networks

Reference 13

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Observation 62996e04-1d97-4836-aff5-7d26efb8c533 · outbound

This paper cites Language-grounded dy- namic scene graphs for interactive object search with mobile manipulation.IEEE Robotics and Automation Letters, 9(10): 8298–8305, 2024.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Language-grounded dy- namic scene graphs for interactive object search with mobile manipulation.IEEE Robotics and Automation Letters, 9(10): 8298–8305, 2024

Reference 14

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Observation 2fbc7aea-73ff-4596-82d3-13f3bb38df29 · outbound

This paper cites Hi-dyna graph: Hierarchical dynamic scene graph for robotic auton- omy in human-centric environments, 2025.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Hi-dyna graph: Hierarchical dynamic scene graph for robotic auton- omy in human-centric environments, 2025

Reference 15

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Observation 4a1a5699-bd71-40fa-8894-3e52da8ef79a · outbound

This paper cites Language models as zero-shot planners: Extract- ing actionable knowledge for embodied agents.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Language models as zero-shot planners: Extract- ing actionable knowledge for embodied agents

Reference 16

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Observation 4d34ffdb-8398-4cb6-bdba-be9c34dabd34 · outbound

This paper cites Joshi, Kyle Jeffrey, Rosario Jauregui Ruano, Jasmine Hsu, Keerthana Gopalakr- ishnan, Byron David, Andy Zeng, and Chuyuan Kelly Fu.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Joshi, Kyle Jeffrey, Rosario Jauregui Ruano, Jasmine Hsu, Keerthana Gopalakr- ishnan, Byron David, Andy Zeng, and Chuyuan Kelly Fu

Reference 17

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Observation 903f9c13-1579-456d-b98b-afcc18b2ffa2 · outbound

This paper cites ConceptFusion: Open-set Multimodal 3D Mapping.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning ConceptFusion: Open-set Multimodal 3D Mapping

Reference 18

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Observation 38d634d2-93c3-4a83-8108-1bf306d39779 · outbound

This paper cites Chang, and Manolis Savva.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Chang, and Manolis Savva

Reference 19

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Observation c0302eda-806b-4495-83c5-b24e1db7e186 · outbound

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

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning 3-d scene graph: A sparse and semantic rep- resentation of physical environments for intelligent agents

Reference 20

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Observation 0478e6da-5bbd-4975-aef3-e6468bef3501 · outbound

This paper cites Segment any- thing.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Segment any- thing

Reference 21

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Observation c0a183ac-5ef8-4fb1-ac1a-acf95cb1bbb9 · outbound

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

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Open3dsg: Open- vocabulary 3d scene graphs from point clouds with queryable objects and open-set relationships

Reference 22

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Observation 55ac9136-26b1-49b1-9d29-dd14e12a496e · outbound

This paper cites AI2-THOR: An Interactive 3D Environment for Visual AI.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning AI2-THOR: An Interactive 3D Environment for Visual AI

Reference 23

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Observation 0beb5cc4-e062-48f2-b950-728f3de2e123 · outbound

This paper cites A theory of shape by space carving.International journal of computer vision, 38(3):199–218, 2000.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning A theory of shape by space carving.International journal of computer vision, 38(3):199–218, 2000

Reference 24

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Observation 2b838496-8009-4661-b8f7-5ce6ed2faaed · outbound

This paper cites Satori: Towards proactive ar assistant with belief-desire-intention user modeling.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Satori: Towards proactive ar assistant with belief-desire-intention user modeling

Reference 25

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Observation 7ca6d212-270f-4715-b3d2-e3169705ee53 · outbound

This paper cites Beyond bare queries: Open-vocabulary ob- ject grounding with 3d scene graph.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Beyond bare queries: Open-vocabulary ob- ject grounding with 3d scene graph

Reference 26

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Observation 9dc3dbc5-519a-43f5-964e-4ef7c86a7a2f · outbound

This paper cites Grounding dino: Marrying dino with grounded pre-training for open-set object detection.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Grounding dino: Marrying dino with grounded pre-training for open-set object detection

Reference 27

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Observation 5b0813b7-e20f-4252-900f-1a8559aa6e08 · outbound

This paper cites Clio: Real-time task- driven open-set 3d scene graphs.IEEE Robotics and Au- tomation Letters, 9(10):8921–8928, 2024.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Clio: Real-time task- driven open-set 3d scene graphs.IEEE Robotics and Au- tomation Letters, 9(10):8921–8928, 2024

Reference 28

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Observation e66d1168-e22d-44ab-8d25-d6d0374b0863 · outbound

This paper cites Predicting good probabilities with supervised learning.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Predicting good probabilities with supervised learning

Reference 29

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Observation 24d23c40-2d03-4e33-85f0-8bb711571f1c · outbound

This paper cites Openscene: 3d scene understanding with open vocabularies.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Openscene: 3d scene understanding with open vocabularies

Reference 30

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Observation e86698e1-405e-4d4c-bab1-7150df2cbd77 · outbound

This paper cites Virtualhome: Simulating household activities via programs.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Virtualhome: Simulating household activities via programs

Reference 31

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Observation 17da68c8-a9e0-4294-95b6-9907e6c26299 · outbound

This paper cites Ifr-explore: Learning inter-object functional relationships in 3d indoor scenes.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Ifr-explore: Learning inter-object functional relationships in 3d indoor scenes

Reference 32

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Observation c6858302-c8cb-4c72-b9e7-b859096591a6 · outbound

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

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Learning transferable visual models from natural language supervi- sion

Reference 33

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Observation 7edeaa07-05e5-4cb0-85f1-3b40e51a7cf6 · outbound

This paper cites Sayplan: Ground- ing large language models using 3d scene graphs for scalable robot task planning.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Sayplan: Ground- ing large language models using 3d scene graphs for scalable robot task planning

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Observation 2377b68a-28ba-4f47-9e04-3c81a832d355 · outbound

This paper cites Task and motion planning in hierarchical 3d scene graphs, 2024.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Task and motion planning in hierarchical 3d scene graphs, 2024

Reference 35

Resolution: unresolved; no resolver link, observed 2026-07-13T12:31:21.407939Z

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Observation a5435ebd-4d37-45c1-9734-8a4194b7e017 · outbound

This paper cites Kimera: From slam to spatial perception with 3d dynamic scene graphs.The International Journal of Robotics Research, 40(12-14):1510–1546, 2021.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Kimera: From slam to spatial perception with 3d dynamic scene graphs.The International Journal of Robotics Research, 40(12-14):1510–1546, 2021

Reference 36

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Observation a4b2b187-ea0b-43ad-93cf-00736fdde295 · outbound

This paper cites an unresolved cited work.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Unresolved cited work

Reference 37

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Observation 187997d2-789d-4d34-827d-073c9229d0c4 · outbound

This paper cites Open- mask3d: Open-vocabulary 3d instance segmentation.Ad- vances in Neural Information Processing Systems, 36: 68367–68390, 2023.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Open- mask3d: Open-vocabulary 3d instance segmentation.Ad- vances in Neural Information Processing Systems, 36: 68367–68390, 2023

Reference 38

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Observation 178c091f-5d64-4518-9ba1-85a16d69fbfd · outbound

This paper cites Curiousbot: Interactive mo- bile exploration via actionable 3d relational object graph,.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Curiousbot: Interactive mo- bile exploration via actionable 3d relational object graph,

Reference 39

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Observation bf115a5d-cdb1-46d4-a1a2-1ee2246b397c · outbound

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

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Hierarchical open- vocabulary 3d scene graphs for language-grounded robot navigation

Reference 40

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Observation 42d614b8-7227-4ff1-a2c4-c547652e4629 · outbound

This paper cites Scenegraphfusion: Incremen- tal 3d scene graph prediction from rgb-d sequences.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Scenegraphfusion: Incremen- tal 3d scene graph prediction from rgb-d sequences

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Observation 04b1142e-75f1-42b7-a31e-9e2adc78cd6f · outbound

This paper cites Incremental 3d semantic scene graph predic- tion from rgb sequences.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Incremental 3d semantic scene graph predic- tion from rgb sequences

Reference 42

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Observation efad445f-4df3-4caf-a844-4016b907123c · outbound

This paper cites Dynamic open- vocabulary 3d scene graphs for long-term language-guided mobile manipulation.IEEE Robotics and Automation Let- ters, 10(5):4252–4259, 2025.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Dynamic open- vocabulary 3d scene graphs for long-term language-guided mobile manipulation.IEEE Robotics and Automation Let- ters, 10(5):4252–4259, 2025

Reference 43

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Observation a10af58b-f565-487b-b7c5-ffae4a4d83a0 · outbound

This paper cites What can i do around here? deep functional scene understanding for cognitive robots.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning What can i do around here? deep functional scene understanding for cognitive robots

Reference 44

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Observation a15637e7-09c3-4226-9d8e-8962a0688c7e · outbound

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

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Sg-nav: Online 3d scene graph prompting for llm-based zero-shot object navigation

Reference 45

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Observation 10447e6d-63b2-4c20-be0c-a491ce4f06eb · outbound

This paper cites Open-vocabulary functional 3d scene graphs for real-world indoor spaces.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Open-vocabulary functional 3d scene graphs for real-world indoor spaces

Reference 46

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Observation fa097aef-a0b9-4003-bc24-639d328d42c9 · outbound

This paper cites Tag map: A text-based map for spatial rea- soning and navigation with large language models.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Tag map: A text-based map for spatial rea- soning and navigation with large language models

Reference 47

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Observation ac132143-ffbd-4717-8042-beda6e95b560 · outbound

This paper cites Rec- ognize anything: A strong image tagging model.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Rec- ognize anything: A strong image tagging model

Reference 48

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Observation 418fa9bd-a266-43cd-9b31-9afeb44a7429 · outbound

This paper cites Part Filtering 1 B .FunThorGeneration Process 1 C.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Part Filtering 1 B .FunThorGeneration Process 1 C

Reference 49

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Observation 926375ec-cbef-41f7-905f-c0e19aeb4473 · outbound

This paper cites an unresolved cited work.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Unresolved cited work

Reference 50

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Observation fd2854a0-df10-400c-82d8-f08ea30902cd · outbound

This paper cites In ad- dition, we generate posed RGB-D images for each scene to support perceptual functional scene understanding.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning In ad- dition, we generate posed RGB-D images for each scene to support perceptual functional scene understanding

Reference 51

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Observation 846960f0-7f82-4903-99d3-444f918786e2 · outbound

This paper cites relation.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning relation

Reference 52

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Observation 245bcd40-b784-4d7d-b5d7-01295174ba9d · outbound

This paper cites second label.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning second label

Reference 53

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Observation a1d787ef-5ea9-44e4-91cc-de401c1971f3 · outbound

This paper cites Representative rules in this cate- gory include: lever pushes down to activate toaster; han- dle pulls to open door.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Representative rules in this cate- gory include: lever pushes down to activate toaster; han- dle pulls to open door

Reference 54

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Observation 88db5c71-c22c-4c28-8319-a9b40c83592a · outbound

This paper cites outlet,” “switch,.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning outlet,” “switch,

Reference 55

Resolution: malformed identifier; no resolver link, observed 2026-07-13T12:31:21.407939Z

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Observation 2947fcca-8ce4-49f1-9562-970dc3b15818 · outbound

This paper cites an unresolved cited work.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning Unresolved cited work

Reference 56

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Observation 29825a50-47f7-41f7-b546-185def5f3578 · outbound

This paper cites knob” and “handle.

FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning knob” and “handle

Reference 57

Resolution: unresolved; no resolver link, observed 2026-07-13T12:31:21.407939Z

Source-reported events for the cited work

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Coverage vector

Reference resolution

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Pith citing papers