PORTER: Edge-Cloud Residency for Persistent 3D Scene Graph Memory
Recent task-driven and just-in-time 3D Scene Graph (3DSG) methods reduce per-task representations by constructing or activating only task-relevant information. Yet sparse per-task working sets do not bound onboard memory usage over a robot's lifetime: as tasks change, payloads accumulated for earlier tasks may become irrelevant to the current task but can be useful again in future tasks. Over repeated task switches and expanding environments, retaining such reusable payloads causes local memory to grow, whereas discarding them entirely can lead to costly repeated construction of the same payloads later. We introduce PORTER, which decouples persistence from residency: lightweight anchors r...
| Authors | Yue Chang, Yifan Tian, Jiajing Peng et al. |
|---|---|
| Primary category | cs.RO |
| Published | 27 September 2026 |
| Last updated at source | 27 September 2026 |
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