Fabio Scaparro — accepted AI-conference papers

2026

KeySG: Hierarchical Keyframe-Based 3D Scene Graphs

Abdelrhman Werby, Dennis Rotondi, Fabio Scaparro, Kai Oliver Arras

ICRA 2026poster

Abstract— In recent years, 3D scene graphs have emerged as a powerful world representation, offering both geometric accuracy and semantic richness. Combining 3D scene graphs with large language models enables robots to reason, plan, and navigate in complex human-centered environments. However, curre…

Cited by 0 Source ↗PDF ↗Scholar ↗

2025

FunGraph: Functionality Aware 3D Scene Graphs for Language-Prompted Scene Interaction

Dennis Rotondi, Fabio Scaparro, Hermann Blum, Kai O. Arras

IROS 2025

The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object-level resolution. In contrast, our goal is to develop a representation that enables robots to directly intera

Cited by 12 Source ↗code ↗Scholar ↗