INHerit-SG: Incremental Hierarchical Semantic Scene Graphs for Complex Embodied Retrieval

arXiv:2602.12971 · cs.RO · Submitted 2026-02-13 · Read on arXiv

cs.RO

Submitted: 2026-02-13

Updated: 2026-10-10

Project page: https://fangyuktung.github.io/INHeritSG.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Abstraction — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Dual-Stream Architecture — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• RAG — 1× in this paper · explained in 3 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• OpenLex3D: A Tiered Evaluation Benchmark for Open-Vocabulary 3D Scene Representations
• EfficientViT-SAM: Accelerated Segment Anything Model Without Accuracy Loss
• EdgeTAM: On-Device Track Anything Model

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