{"as_of":"2026-08-15T22:49:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:593b52b0504e0074ac9e51644062f0fb0927450bec5e810e3cf7fe8c4ad82b69","coverage":[{"denominator":74,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":74,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-14T13:31:35.052903Z","state":"measured"},{"denominator":74,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":74,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-15T06:32:42.880941+00:00","state":"measured"},{"denominator":0,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":0,"source":"paper_references, paper_reference_links","source_observed_at":null,"state":"measured"},{"denominator":1,"lane":"external_citation_measurements","note":"A source-named dated measurement, never combined with another source.","records_observed":0,"source":"cited_works","source_observed_at":null,"state":"measured"}],"external_citation_measurements":[],"inbound":[],"links":{"evidence":"/evidence","html":"/paper/1908.04929/citation-record","integrity":"/paper/1908.04929/integrity","json":"/paper/1908.04929/citation-record.json","paper":"/paper/1908.04929"},"outbound":[{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:36.190774Z","title":null,"venue":null,"work_id":"116db9b4-d035-4bf4-a569-6846a213c9a2","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.742244Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:71c73726b3e4f18cb8f2645a03fc758159480b2098921cf4b061b20bf8529e32","observation_id":"0c9af02e-a87e-4c8a-bb61-cacca44c7db1","resolution":{"observed_at":"2026-08-14T13:31:36.194892Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:36.178398Z","title":null,"venue":null,"work_id":"f6f34f7b-3881-4039-886d-01eb49c1fc00","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.746247Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:bfc11db1437989a6f2ea82f012fabfda4e148561aa4551ca7aecbecdfb71e4cb","observation_id":"6d1970b2-8917-40e3-91d5-252c01bc3bf0","resolution":{"observed_at":"2026-08-14T13:31:36.182528Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:36.166855Z","title":null,"venue":null,"work_id":"a7faa765-3b7e-42e2-acb5-e1e3a25e2f0c","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.749987Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:ad22f541e830c3d3cad12fde8d479cb60721a2fb7effebed44baea0cdd4e4c7f","observation_id":"4b945a1e-24ac-466b-913a-82ae178b3042","resolution":{"observed_at":"2026-08-14T13:31:36.170892Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:36.154426Z","title":"The claimed properties of environment models enhance the autonomy of intelligent agents","venue":null,"work_id":"89a4c114-3541-4c51-a228-4e3d3a2bbfcb","year":2019},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.753589Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:1ea219fa299e57a42446853c3443efb677960f4887d8878950a8e9e4f7024300","observation_id":"aaa43d07-f4a6-48bf-b50f-897830f8e795","resolution":{"observed_at":"2026-08-14T13:31:36.158332Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:36.142671Z","title":"The two applications are under active research in computer vision [5], NLP [6], and robotics societies [7]","venue":null,"work_id":"33c93b8c-3496-49f6-9ec1-c76dcf4c235c","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.757632Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:f12c81278f49a94dbb321c1e5d1fca82548e95df776def93a8aa391b6dc705a9","observation_id":"6fba3699-8be3-478c-a2cd-ef8c734cabcc","resolution":{"observed_at":"2026-08-14T13:31:36.146759Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:36.126652Z","title":null,"venue":null,"work_id":"f9cbe657-4993-4615-8027-ed8ed34d5c94","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":6,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.761534Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:9ac2df5da743d9fb3768c082ec1b3938ba7c8886cf1ae9cc0e8246fee9f50b0f","observation_id":"e79d4d6e-096c-4a69-a8a2-713ff8844f52","resolution":{"observed_at":"2026-08-14T13:31:36.132416Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:36.101943Z","title":null,"venue":null,"work_id":"98f1bd09-0bc4-41fc-8267-e64750cb34f0","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.765102Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:815a6daa7f6a611d93d9a85764eec239e9976f503ff43429544d271c87048e92","observation_id":"43fba1f5-593d-4e13-b362-77a1adc34ff9","resolution":{"observed_at":"2026-08-14T13:31:36.108855Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:36.081971Z","title":null,"venue":null,"work_id":"b473b076-4832-4a6d-ba2a-6293e4f3b9db","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.768912Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:d654ee2ca5b760afd822a9bd130f082963c3b54a647f0344cf0275ea7aa0947e","observation_id":"f3828d0f-4d79-461c-9537-f3a03eed0bd1","resolution":{"observed_at":"2026-08-14T13:31:36.088777Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:36.058867Z","title":null,"venue":null,"work_id":"9d36dae4-09fe-4ea2-acae-ad8a3e22246a","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.772761Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:837836b5274d971f4900191b9331989e0900c672d6006140120368958dcd843a","observation_id":"c0f6f591-dd52-4a8f-8a13-65ce8fe4f3f3","resolution":{"observed_at":"2026-08-14T13:31:36.065696Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:36.039734Z","title":"The remainder of this paper is organized as follows","venue":null,"work_id":"6eb4ac62-13ca-4b11-8047-5b0c3de12b3c","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.776690Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:f15f9b5c03ebbb73d8f5c379f52fea8ae94efd76c53cdc96922269127dc5777a","observation_id":"07f0f89f-6157-410c-82d1-7c309cfd0209","resolution":{"observed_at":"2026-08-14T13:31:36.047925Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:36.022308Z","title":"The keyframe determines the first anchor frame and the coverage of the keyframe group","venue":null,"work_id":"4fe52b1b-e59f-4ceb-b313-ce4c4c43fb86","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.781237Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:0251567596be388fc47fb572b2e74ec6a6dc127293f9550c07c103c5c6083306","observation_id":"1f265540-fec7-4e7c-b989-744bb7e10a8b","resolution":{"observed_at":"2026-08-14T13:31:36.027284Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:36.003703Z","title":"Only the latest anchor frame is active and the active anchor frame determines the next anchor frame","venue":null,"work_id":"8ca23889-e4dc-4738-ac21-3e1a8a51fe9e","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.785762Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:1799149e2a00b0c34800a64cd0290269cb6746f1a22353800fe10617058e1643","observation_id":"84fbcc41-b3a0-4d10-bc3a-a5a41f547d89","resolution":{"observed_at":"2026-08-14T13:31:36.010427Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.985829Z","title":null,"venue":null,"work_id":"b706c4a1-2d8e-4910-b9d8-5b5b9d9f9378","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.791072Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:af899c53b689f5be739a8acc5ec4e46f44d567d076aca3e40444aac5ab1293b0","observation_id":"84ca5a38-71d3-465c-b43b-389251621929","resolution":{"observed_at":"2026-08-14T13:31:35.991959Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.967585Z","title":null,"venue":null,"work_id":"5fb7bafc-8ae7-4318-8c89-9329328b0124","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.795937Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:37a03c426b3af4bb4e1dfe2e986f1cada2c301abcac61ac33e80869bfc062eb5","observation_id":"10c8ee29-31da-4c7b-83d8-71c37438f288","resolution":{"observed_at":"2026-08-14T13:31:35.976638Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.954003Z","title":null,"venue":null,"work_id":"f12831ab-201f-4847-8c72-aab01a5f7408","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.800508Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:3358784b1a99044df180fcd3443d6622bf5094e2dcc03a076e70d9a34444a369","observation_id":"f1ee40f5-68ef-43a4-b861-363f353656ce","resolution":{"observed_at":"2026-08-14T13:31:35.957879Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.941027Z","title":null,"venue":null,"work_id":"9a74e61a-9c6f-45c6-b9aa-35ec2e26cc22","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.804660Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:d43834d675795eb3cbdb7938f6bfac4267b992a9124b80c9fcc2c562b96a53c7","observation_id":"fe299206-42c6-42b7-ad81-3e3726834068","resolution":{"observed_at":"2026-08-14T13:31:35.944973Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.924085Z","title":"On the other hand, the following lists the types of relations an edge could stand for","venue":null,"work_id":"5b4ce727-12f7-40cf-acdc-8062b8743185","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.809055Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:8c08c21b13202a0439bd543cd047d03bdc528e4fbe8e73f638d9a6dab493e0c7","observation_id":"28ec7c0f-df75-4746-b05f-f74c63dffdeb","resolution":{"observed_at":"2026-08-14T13:31:35.929306Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.908755Z","title":"This article has been accepted for inclusion in a future issue of this journal","venue":null,"work_id":"aa600136-19b9-4fd0-827e-5c7416324138","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.812919Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:25c936cc91e11c72e4b75b1ac6964baa4c408670169fe94f9ae6d9cbb0e26152","observation_id":"ea265259-31d0-4f39-a9c2-7937d72ac170","resolution":{"observed_at":"2026-08-14T13:31:35.913804Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.890786Z","title":null,"venue":null,"work_id":"6503b760-1077-4fdf-b896-9c863ddf0285","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.816857Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:fc00a322f6c16f29fb6d230cf1e2dd5b6526b5aebed0e547d36331aac3cc9305","observation_id":"03979511-bec3-435b-871c-847726e501f8","resolution":{"observed_at":"2026-08-14T13:31:35.896523Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.873989Z","title":null,"venue":null,"work_id":"b74de47e-a148-4ac6-bb50-f48af4630448","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.821468Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:d21c510bdccf9474ff1193d217c765af3126e3b7e09a4d8bf7183bdebfaea5bf","observation_id":"7fea1cf5-2404-42fd-953f-43c206c8c8d3","resolution":{"observed_at":"2026-08-14T13:31:35.879988Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.861227Z","title":null,"venue":null,"work_id":"d3e95089-61f9-4940-ad19-75ba6049fe8a","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.826142Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:6aeb948d8baf74cc25c41f04af5f661ec228a9039cdbcb4c196aea38a723e228","observation_id":"447e5f52-0c06-439c-9631-d10b1054ec53","resolution":{"observed_at":"2026-08-14T13:31:35.865115Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.848797Z","title":"As one object is subjective and the other is objective given a pair of objects, the edges in 3-D scene graphs are directed (the subjective objects point at the objective objects)","venue":null,"work_id":"75fc2b48-37c4-4bfc-90cf-a8cca211f02c","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.830209Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:c7f2fff0d40610d3a4922a4ca413079d99422a74ddef56becd1b3cda700ffc7b","observation_id":"8ce69ab5-0823-4ba7-89db-680a4d3e644e","resolution":{"observed_at":"2026-08-14T13:31:35.853077Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.834602Z","title":"In the process, we assume independent identically distributed for each dimension, x, y, and z, and keep the number of points used for the evaluation","venue":null,"work_id":"5aa0f273-8734-4bcc-8aad-0af4cfb63b0c","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.834161Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:7bdc719a6909c9bf8ec29d57ab6730329a604692900cec512d854503896da3d0","observation_id":"ccb19015-9d74-4a04-af5f-46a4f76f55f2","resolution":{"observed_at":"2026-08-14T13:31:35.839443Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.818350Z","title":"We utilize the following features for the same node detection: object label, 3-D position, and color histogram","venue":null,"work_id":"04ad6da1-c5f3-49a5-aaec-64d8afb81dfe","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.838323Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:52fea43f332825bab3254f50b60bff8e6a7aec9aaf6d47e4c337330a678504c2","observation_id":"e4f9c8aa-b0b2-44c4-8be1-1b73c1cb1fd0","resolution":{"observed_at":"2026-08-14T13:31:35.823978Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.804374Z","title":"Upon receiving image frames, local 3-D scene graphs are generated and merged to the global 3-D scene graph","venue":null,"work_id":"bd644cee-1de6-4cfc-88d6-d7742a5dc0dd","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.843205Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:a1bfb3f92a6943628d19f3fffc8a80735ed88752a671ef3eae887deb9027a6c9","observation_id":"78f3abe0-4b0b-4738-a66b-861e83183aac","resolution":{"observed_at":"2026-08-14T13:31:35.809155Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.791090Z","title":null,"venue":null,"work_id":"036e6c8c-9abf-4b2c-a488-4fa59a4e950f","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":26,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.847322Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:b2651dd057ad30de80cdf409209bc2591222def54ee6605e1ef966d738e30838","observation_id":"774e9afd-84b5-42e8-ba8b-1e4e38f18fcf","resolution":{"observed_at":"2026-08-14T13:31:35.795294Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.774198Z","title":null,"venue":null,"work_id":"a6911831-da04-4c6c-95ba-8ea7743ebabc","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":27,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.851324Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:ca64206d87ed3a157e20948e32fe2f4ba8fb102dd9136c7c218fb89a3aafcfad","observation_id":"681ee4ef-74e3-4788-a340-80dad1383b12","resolution":{"observed_at":"2026-08-14T13:31:35.779056Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.759197Z","title":null,"venue":null,"work_id":"6d7466ff-325c-4c59-91d0-ed34c16e788d","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":28,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.854844Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:f9a7a474f424d48de5663685a156799ae3df2cd4197466421470316b7cb93d0e","observation_id":"89cc6b40-dae0-463f-8794-588450fd4a84","resolution":{"observed_at":"2026-08-14T13:31:35.764576Z","resolver_source":"raw_fallback","status":"unresolved"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.743708Z","title":"The above-listed questions can be easily converted to a query- form (machine readable form) even when asked in a free-form and open-ended manner by employing a few NLP algorithms","venue":null,"work_id":"1e6dc9ba-d788-42a3-bfe9-ba09eff39d2e","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":29,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.859043Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:af2cbc1db027984ddbccb309d8d91f097c5dc3775686f70cc827b5088c4ee6cb","observation_id":"e377e58a-a349-4ac7-9fc2-b9e67b03fc7f","resolution":{"observed_at":"2026-08-14T13:31:35.749723Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.726097Z","title":"The problem description contains the information regarding the categories and states of objects and the goal definition","venue":null,"work_id":"a5ef1a70-ef3e-45d9-bb64-16494d5f2586","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":30,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.862656Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:c9db02874a866578088876fac6ff51119aebbff981411b3fa228b81eeebc110a","observation_id":"a486bbaa-c0c6-41a4-a494-f32a6bf73f5c","resolution":{"observed_at":"2026-08-14T13:31:35.733652Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.704400Z","title":"ScanNet consists of 1513 sequences, which were collected using one type of RGBD-sensor","venue":null,"work_id":"09e4c676-80f7-4888-a116-a11a0fcc99f4","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":31,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.866153Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:4dc0e1fd052a07ef9b928d4bda95521ae5039e80e23067e89fb6a0c6233684ee","observation_id":"4e2a71b5-a9d1-4bd2-b709-8fb0f5fd2278","resolution":{"observed_at":"2026-08-14T13:31:35.711466Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.685971Z","title":"We used the extended versions of base scene graph generation algorithm (F-Net) [17] as baselines (see Table I)","venue":null,"work_id":"3ad9fbfd-4553-4f2d-902b-af985bb75d18","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":32,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.869395Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:b99b932473fc3e7bc3258d81d91d0eb865df7720c3f1569e3351ca3a3771cac6","observation_id":"e025220b-443e-48c9-b82f-364766b6c168","resolution":{"observed_at":"2026-08-14T13:31:35.693138Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.668872Z","title":"We recruited six experiment participants (age: 22–35, male/female: 5/1) and gathered six responses for each graph","venue":null,"work_id":"3bebc4f9-4ef6-46b7-95e2-e6b3821dc4e7","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":33,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.872852Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:38dfbe6b11d3a694e9395893080f41a930d2bfe27d0c31f2a2ba3b347dc76db6","observation_id":"59236f0e-622f-4356-995c-2f1e51c0c0b3","resolution":{"observed_at":"2026-08-14T13:31:35.673946Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.656946Z","title":"We used Intel Core i9-7980XE CPU@2.60 GHz and Titan XP for the experiment","venue":null,"work_id":"ff6c477f-f2aa-488a-9f59-90a850612adc","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":34,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.880517Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:ddfb2691b224cbabececdafaeec5b48d623154ebab2cd797f4f3d07fef0d6b5c","observation_id":"95af9ddb-5cf6-45d0-a3e2-d9667efc5add","resolution":{"observed_at":"2026-08-14T13:31:35.661178Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.643613Z","title":"4 shows the resulting 2-D and 3-D scene graphs for the experiment sequence with the first keyframe group and Table II reports the quantitative result of the comparative study","venue":null,"work_id":"ed4ba03f-1f21-4c4d-ae8b-dfb8e6c92fb9","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":35,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.884170Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:b19e46f8d148ed20b24b1396c331bafd4570ce0a7a91e4c683196efefb40735c","observation_id":"3c48a95a-94e8-4bcb-8ab1-49908442ec7e","resolution":{"observed_at":"2026-08-14T13:31:35.649047Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.620705Z","title":"The kitchen simulation environment models the actual kitchen environment, so that the 3-D scene graph from the actual kitchen can be directly used in the simulation","venue":null,"work_id":"5fcb30ba-8373-4813-b79a-8736cd140f54","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":36,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.888188Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:cc09ebf6e3ea00a928aabebc02b34b00c9a85164bda8242d62f899450763390c","observation_id":"c000401c-207c-4d0c-b0c1-4e159ba99429","resolution":{"observed_at":"2026-08-14T13:31:35.625648Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.607278Z","title":"In the first phase, human scans through the actual kitchen and a 3-D scene graph is constructed for being used in the simulation","venue":null,"work_id":"4d4a789f-ed62-4d26-814e-7af6b844f344","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":37,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.891814Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:4080e9c56474ed8f0aa19e8ea438a2c7c15df76a39c76cb1eed9f90bec7d3f79","observation_id":"072b042a-49c4-486d-9541-cbd5cad4e1f3","resolution":{"observed_at":"2026-08-14T13:31:35.611156Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.594069Z","title":"5 shows the demonstration process","venue":null,"work_id":"b1c72dcb-8a5a-48b5-93ea-ed34022d49ca","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":38,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.895103Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:ef85895d10921b3fb4625e4d5eb313fb95a2630aa4600f2b31f719ddfd637b0b","observation_id":"a2b4c600-4ca9-4239-9195-22b11eb6d73b","resolution":{"observed_at":"2026-08-14T13:31:35.598293Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.579475Z","title":"R EFERENCES","venue":null,"work_id":"baf6e82c-55c7-4e7a-9608-ad78c8075568","year":null},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":39,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.899167Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:22c05bcc736a15b54f9ce82b790b0f22c8d5dae0c90d73a71c47c28a8c165c56","observation_id":"b104a4f0-0271-429c-b8ed-c2257870cfaf","resolution":{"observed_at":"2026-08-14T13:31:35.583781Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.561615Z","title":"Moveit! [ROS topics],","venue":null,"work_id":"ee7c7ffc-a2a4-4070-8f50-5ff51d76a990","year":2012},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":40,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.902574Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:ce09bf862bbc055e4b8410ae395b9c404a7c4ea0065ff32eaeec8cab0c9fb8c0","observation_id":"0334e363-6581-497c-adcf-ed1337880cfe","resolution":{"observed_at":"2026-08-14T13:31:35.565669Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.548712Z","title":"Semantic 3D object maps for everyday manipulation in human living environments,","venue":null,"work_id":"ecd60b71-7156-4f43-808e-8ac1ebca816e","year":2010},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":41,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.905992Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:85021387d4e310316d9123d9d253a03b41c0867b0139cd1c3cb68e6a37605e50","observation_id":"c539c7a2-7a19-4601-aa69-6e5a834192c7","resolution":{"observed_at":"2026-08-14T13:31:35.553959Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.534479Z","title":"Elasticfusion: Real-time dense SLAM and light source estimation,","venue":null,"work_id":"00f9b62e-364d-4725-ac84-a6105f0bc70b","year":2016},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":42,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.910924Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:547eaacac2fac10657b9a864125ed111174a1661f2c9cb7935f37c1ae49870f4","observation_id":"05d5841a-f250-432e-9bec-83c646bbd2c8","resolution":{"observed_at":"2026-08-14T13:31:35.539735Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.518019Z","title":"Show and tell: Lessons learned from the 2015 MSCOCO image captioning challenge,","venue":null,"work_id":"8ec86e9b-1573-435a-adee-79f138f47eeb","year":2015},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":43,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.915057Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:cc28dd7bd76407a79c0add7e9970ba6f565b1526c2d4862671b48f98440d5bc6","observation_id":"99db394b-ed8a-4ced-a434-e384e4aeb3ef","resolution":{"observed_at":"2026-08-14T13:31:35.524735Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.502844Z","title":"VQA: Visual question answering,","venue":null,"work_id":"7b55d858-6a1a-4181-9472-46579f668a84","year":2017},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":44,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.919883Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:f91944719a536d3f4cefd7a0a8ffbdcbfa4468264164318f4d029d89512af0c0","observation_id":"c3550932-a3d2-4753-8097-bfac9c910a73","resolution":{"observed_at":"2026-08-14T13:31:35.506717Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.486668Z","title":"Ask me anything: Dynamic memory networks for natural language processing,","venue":null,"work_id":"29219726-94e4-49ee-994c-28dad6f1ed32","year":2016},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":45,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.925550Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:f78326eb6faca21a5067819c047ecf16df9d5bf77e57a37fabb30071de0c85e9","observation_id":"a5f0a2d6-9413-4c35-aabc-180d2c4870e6","resolution":{"observed_at":"2026-08-14T13:31:35.493068Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.472317Z","title":"Robot task planning and explanation in open and uncertain worlds,","venue":null,"work_id":"303fed94-faa9-4baa-9051-6a09ca5400e4","year":2017},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":46,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.930182Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:efeb6d0e590ad1840b5a38c2bf3d31437f4d31b0bc0a8d91b898dd2f7a26a20d","observation_id":"eeac6fcc-e776-4c74-a50b-bb8da61cc4b4","resolution":{"observed_at":"2026-08-14T13:31:35.477035Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.457702Z","title":"Bundlefusion: Real-time globally consistent 3D reconstruction using on-the-fly surface reintegration,","venue":null,"work_id":"d825f5a5-78f6-45aa-bcfb-6bd9a4399700","year":2017},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":47,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.934259Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:1ab99254dd3703f3cc0ca7174d6a60e3ad710c87cf39190187d739e86a877d35","observation_id":"f7d356bc-250d-4d8c-a361-eab90f58b578","resolution":{"observed_at":"2026-08-14T13:31:35.462544Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.440353Z","title":"3D is here: Point cloud library (PCL),","venue":null,"work_id":"fe3c86f9-aec1-4527-9e28-1495043e400c","year":2011},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":48,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.939740Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:ac7e2ae68a5fabcd4626ffae47bd5a25edaf3643b76401bfbbdc296c1eb5d2f0","observation_id":"99ae38bb-14da-4d99-ba77-ba9ce9c80951","resolution":{"observed_at":"2026-08-14T13:31:35.445393Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.422970Z","title":"Grid-based map- ping and tracking in dynamic environments using a uniform evidential environment representation,","venue":null,"work_id":"d3ed8e92-a66f-42b6-826b-9e410aa8961a","year":2014},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":49,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.943836Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:fe20ce52c7fe6f77153cb357973c41b7256144718f4d1e48b4c5d7af54bd6d69","observation_id":"1beca56e-ac8e-4586-91fe-80206ee36f8a","resolution":{"observed_at":"2026-08-14T13:31:35.431706Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:34.948969Z","title":"OctoMap: An efficient probabilistic 3D mapping framework based on octrees,","venue":null,"work_id":null,"year":2013},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":50,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.948969Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:b02e82a441ce1606a900b1987c216f3d87d2948d750d803b0cb70f493c4ead32","observation_id":"4af06a0d-ce87-46ab-810c-daa6d7e68445","resolution":{"observed_at":"2026-08-14T13:31:34.948969Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.403822Z","title":"SemanticFusion: Dense 3D semantic mapping with convolutional neu- ral networks,","venue":null,"work_id":"7b44e35b-f3e1-4d78-aeb3-83875a092de9","year":2017},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":51,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.953376Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:58099aa55d98204390a7763e46babf4ecd4b7c9506f3aa875cf96f5dba0b13bc","observation_id":"89f6974e-aca2-49e9-aa36-c63587af283c","resolution":{"observed_at":"2026-08-14T13:31:35.410013Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.385913Z","title":"PointNet++: Deep hierarchical feature learning on point sets in a metric space,","venue":null,"work_id":"aae8102e-a1e3-4a2e-92cd-8c7dd558c07d","year":2017},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":52,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.957397Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:8757ebd0e92eb187a53dcea892399e10d634b2e5f9bf99f9fe698752b964d1e9","observation_id":"6a880b77-06cf-4c37-ba83-13b1f839086e","resolution":{"observed_at":"2026-08-14T13:31:35.391805Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.370980Z","title":"Video captioning with transferred semantic attributes,","venue":null,"work_id":"4159ae2e-0029-4b2c-ae46-fb9ceeb76c99","year":2017},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":53,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.961374Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:ccfdf741a2767264258b0f4258d9152150b6b6ecf348f187a7751b75f6dac823","observation_id":"d6587845-584d-415d-85b2-bc2f5045f237","resolution":{"observed_at":"2026-08-14T13:31:35.375250Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.355579Z","title":"Scene graph generation by iterative message passing,","venue":null,"work_id":"59ad8620-d2af-465d-82c7-c100842750a7","year":2017},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":54,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.965166Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:7eb9236ddd9add7c8e37356dc6c5999e6ee8082200822203083eaac8f5db5999","observation_id":"975ab6e7-e0fe-413f-a42a-b50308a3ad1a","resolution":{"observed_at":"2026-08-14T13:31:35.360053Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.342935Z","title":"Scene graph generation from objects, phrases and region captions,","venue":null,"work_id":"e35d857a-d5ce-4cc9-8bd3-172ebe1ff689","year":2017},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":55,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.969512Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:a4e3356212d9d9ec2212cfc932d7dcc6673e3875251ec42a0e3a8ceced2577db","observation_id":"59c66c89-15f7-43e2-a652-83dec44601a5","resolution":{"observed_at":"2026-08-14T13:31:35.347283Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.330610Z","title":"Factorizable net: An efficient subgraph-based framework for scene graph generation,","venue":null,"work_id":"34d40325-2ff4-4d8d-895c-730a2fd189c1","year":2018},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":56,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.973662Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:4b86865721024f7991b6ea045f4f282b9432b2daa430e8a2cdfb34c9568d0732","observation_id":"845f9d7c-951b-4698-a80f-d265e98a5e32","resolution":{"observed_at":"2026-08-14T13:31:35.334838Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.317474Z","title":"Image retrieval using scene graphs,","venue":null,"work_id":"0fc80f86-7a99-4ff7-ad60-f69afa82cf6a","year":2015},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":57,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.978015Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:b386375c80317b15535526f161db959014758369a6f76f38e92d03f21955ea02","observation_id":"eac5b310-3806-4ff5-9de1-8debeac8c111","resolution":{"observed_at":"2026-08-14T13:31:35.322143Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.303875Z","title":"Learning spatial knowledge for text to 3D scene generation,","venue":null,"work_id":"c05aa3e2-5cef-44b4-b23f-fbd10194b657","year":2014},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":58,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.981904Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:894946e9148985dfb6d375d32226febf351d16e73281a5f7d07d0d3290c98ea7","observation_id":"a1aff235-5034-412f-bd7c-f105d441524b","resolution":{"observed_at":"2026-08-14T13:31:35.308778Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.290764Z","title":"Graph-structured representa- tions for visual question answering,","venue":null,"work_id":"983efe54-8c76-4581-afd6-ba4c7da3f97a","year":2017},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":59,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.986711Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:da18e5c930ec03a59cec1351b7e6a7b0d368bf2bc01a4bc167ea68d870ba8a20","observation_id":"db6a751f-ba08-4fb4-b78a-35206f1183dd","resolution":{"observed_at":"2026-08-14T13:31:35.295220Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.274488Z","title":"Faster R-CNN: Towards real- time object detection with region proposal networks,","venue":null,"work_id":"0617ccda-6963-4e64-b213-65b9edc9d3f8","year":2015},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":60,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.990749Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:6b749dcae03af669a0390f1ca675fd8aac0d72d6bf22698d417214ea4f4b1cf5","observation_id":"35aa8cd5-7d9c-4414-81af-5e07ab0f3b94","resolution":{"observed_at":"2026-08-14T13:31:35.278496Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.262933Z","title":"Distributed representations of words and phrases and their composi- tionality,","venue":null,"work_id":"61c97f0d-107a-49f2-b2ed-6fa379920dc0","year":2013},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":61,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:34.996141Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:8af7645bb371775942f1187956d9cc3aa512a4a6da0a1d953a1d866f0f52656e","observation_id":"a4cf5d3e-220c-4c1c-890d-3597ed50b793","resolution":{"observed_at":"2026-08-14T13:31:35.266440Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.252461Z","title":"Efficient non-maximum suppression,","venue":null,"work_id":"428e3757-cf53-4f68-bf03-f6f17b6f02ec","year":2006},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":62,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:35.000020Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:5c2d1fc562b516ac54214e627d05484fa39a33bd683195b9005e1106ba27c950","observation_id":"a8e73fd4-16ca-400f-a3d6-ff06b8fd8fe2","resolution":{"observed_at":"2026-08-14T13:31:35.256201Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.241735Z","title":"Visual Genome: Connecting language and vision using crowdsourced dense image annotations,","venue":null,"work_id":"e5f93eb8-df65-47ad-9ccc-f8a7f18220a2","year":2017},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":63,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:35.008604Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:d5122951d92bc18ed8f74218c0a33b7f3a4b26ba4d85f8fef1d9899cb1f59e77","observation_id":"abef22c0-e216-4ea0-a99f-b1ed90572194","resolution":{"observed_at":"2026-08-14T13:31:35.245289Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.229327Z","title":"Histogram-based color image retrieval,","venue":null,"work_id":"4caa0679-a2aa-4d1f-b771-225d5ad0f161","year":2001},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":64,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:35.013125Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:ac0949aff47724c4ec4899ff9601181f5afd241ec9dc0bd734f91b7c69b99167","observation_id":"4ca5c3b7-c60e-4c50-b84e-9b44b7e7e9ba","resolution":{"observed_at":"2026-08-14T13:31:35.233891Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.215774Z","title":"Ff: The fast-forward planning system,","venue":null,"work_id":"d2b24093-6dc8-41a9-a3da-c262a76d1d50","year":2001},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":65,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:35.017871Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:d3c1065e29ed739e77a47ee8d3402b3c2a15e5c9446509e059131480ecd0f5ce","observation_id":"aacb2142-01e7-4fcf-b979-0db5e105da6f","resolution":{"observed_at":"2026-08-14T13:31:35.220806Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.202513Z","title":"PDDL2.1: An extension to PDDL for expressing temporal planning domains,","venue":null,"work_id":"54ab10b3-ac14-44e5-9d46-0471645f594c","year":2003},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":66,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:35.022540Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:9027a9556472291296e1839fcf1dfc36c5efd6f04cfb4602cda39b45a49ef09c","observation_id":"2e3ac5d9-0b58-4e95-958e-5e1363112fa2","resolution":{"observed_at":"2026-08-14T13:31:35.207010Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.188365Z","title":"Scannet: Richly-annotated 3D reconstructions of indoor scenes,","venue":null,"work_id":"5ab40efc-eb46-4418-9712-10942fb5877d","year":2017},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":67,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:35.026761Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:1e5048ad30feb143c205356bc91209f8545f77c4a08991b0db1d71f5dbb91ee5","observation_id":"6dee8ec8-3ce4-40ed-96c4-9a9bf1c374de","resolution":{"observed_at":"2026-08-14T13:31:35.192839Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.175489Z","title":"Cheap and fast— But is it good? Evaluating non-expert annotations for natural language tasks,","venue":null,"work_id":"444758dd-30c7-4bda-8fda-1c58762154a5","year":2008},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":68,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:35.030561Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:8fb908257ba6f0e73998cc55b8790a215b9138b63aebf20d7e4f3a4838d1db72","observation_id":"cefe1a1c-7efe-41bb-b1b4-7bf4c7de296b","resolution":{"observed_at":"2026-08-14T13:31:35.179633Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.163194Z","title":"Realization of task intelligence for service robots in an unstructured environment,","venue":null,"work_id":"da27ec77-7686-4817-b9fb-73c74057a129","year":2017},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":69,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:35.034761Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:6e707d808760b26fc1428a41f205f27fcb5a4d0fead35c25ea4a8aa514dfdb4a","observation_id":"419b6c22-6199-47b8-8b6f-dfd9c42c0ac0","resolution":{"observed_at":"2026-08-14T13:31:35.167322Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.151328Z","title":"Fuzzy integral-based gaze control of a robotic head for human robot interaction,","venue":null,"work_id":"053f2e35-f16e-4cfe-b5ad-78726c2368dc","year":2015},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":70,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:35.038455Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:09fffbd0217ed35167f06192fce87c5557f55e506c39aa82f6c0d296e07b3d8c","observation_id":"f0e699fd-8046-4efa-a85c-87709ebac87a","resolution":{"observed_at":"2026-08-14T13:31:35.155102Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.136858Z","title":"Hierarchical emotional episodic memory for social human robot collaboration,","venue":null,"work_id":"d13f5cad-c846-4c0b-a5a8-92e25d467041","year":2018},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":71,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:35.042105Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:9dc309c7f606c31dd9e1a1ad9adc30c9754d650c67297e40c7e81406cd472841","observation_id":"0e244945-e273-4594-94c2-96d05cc52b66","resolution":{"observed_at":"2026-08-14T13:31:35.142314Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.124448Z","title":"Webots: Symbiosis between virtual and real mobile robots,","venue":null,"work_id":"2f0ae541-d8d8-4dd8-8a5c-36fa2b46d600","year":1998},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":72,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:35.045488Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:7fb09a1c136b076a23332272c17e68e37f10f447d6d085638c7a72084e7ddff5","observation_id":"7283db1d-70ec-4ede-9d81-3a40766c9178","resolution":{"observed_at":"2026-08-14T13:31:35.128631Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.110130Z","title":"ROS: An open-source robot operating system,","venue":null,"work_id":"bb15a2ae-2c25-4205-b2fe-48b4b082f0e0","year":2009},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":73,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:35.048945Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:bfef92bfb808acfad149e32e15a78584e32291833a5afb0784bddc0129690a50","observation_id":"5a7daca0-1422-4d08-89a9-9bf952c4c559","resolution":{"observed_at":"2026-08-14T13:31:35.114701Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-14T13:31:35.093222Z","title":"Hyperface: A deep multi- task learning framework for face detection, landmark localization, pose estimation, and gender recognition,","venue":null,"work_id":"dfb0f45a-8ac1-443e-a002-9e641d59704b","year":2019},"citing_paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents","version":1},"reference_index":74,"source":"pdf_text","source_observed_at":"2026-08-14T13:31:35.052903Z"},"links":{"citing_paper":"/paper/1908.04929"},"observation_digest":"sha256:81785a5e592b412292200eef990de0e20187d612eaedb5607dccf75a67a19545","observation_id":"5fde52d1-a5ee-4835-92a9-270342e76f4a","resolution":{"observed_at":"2026-08-14T13:31:35.099520Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}}],"paper":{"arxiv_id":"1908.04929","last_updated":"2019-08-14T02:30:05Z","latest_version":1,"primary_category":"cs.CV","snapshot_observed_at":"2026-08-14T13:26:10.803239Z","submitted_at":"2019-08-14T02:30:05Z","title":"3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents"},"reference_resolution":{"displayed":74,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":18,"verified_exact":0,"verified_fuzzy":56},"total_outbound_references":74},"refusal":"A citation records a reference. It does not transfer a finding from one paper to another.","schema":"pith.paper-citation-record.v1","standing_sources":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"thesis":"As of 15 August 2026, this Paper Citation Record lists 74 of 74 outbound references and 0 inbound Pith citation observations for arXiv:1908.04929."}