# Hi-Dyna Graph: Hierarchical Dynamic Scene Graph for Robotic Autonomy in Human-Centric Environments

arXiv: https://arxiv.org/abs/2506.00083 · HTML: https://mlsanity.com/paper/2506.00083/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 38 references that are in the map.
- First posted on arXiv 30 May 2025.

## Builds on (most cited first, 30 of 30)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Sentence-BERT: Sentence Embeddings using Siamese BERT-Networks](https://mlsanity.com/paper/1908.10084/) (2019)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [Nerfies: Deformable Neural Radiance Fields](https://mlsanity.com/paper/2011.12948/) (2020)
- [4D Gaussian Splatting for Real-Time Dynamic Scene Rendering](https://mlsanity.com/paper/2310.08528/) (2023)
- [Scaling Egocentric Vision: The EPIC-KITCHENS Dataset](https://mlsanity.com/paper/1804.02748/) (2018)
- [Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction](https://mlsanity.com/paper/2309.13101/) (2023)
- [Neural Scene Flow Fields for Space-Time View Synthesis of Dynamic Scenes](https://mlsanity.com/paper/2011.13084/) (2020)
- [K-Planes: Explicit Radiance Fields in Space, Time, and Appearance](https://mlsanity.com/paper/2301.10241/) (2023)
- [Detecting Twenty-thousand Classes using Image-level Supervision](https://mlsanity.com/paper/2201.02605/) (2022)
- [HexPlane: A Fast Representation for Dynamic Scenes](https://mlsanity.com/paper/2301.09632/) (2023)
- [Dynamic View Synthesis from Dynamic Monocular Video](https://mlsanity.com/paper/2105.06468/) (2021)
- [ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning](https://mlsanity.com/paper/2309.16650/) (2023)
- [Spacetime Gaussian Feature Splatting for Real-Time Dynamic View Synthesis](https://mlsanity.com/paper/2312.16812/) (2023)
- [Neural Radiance Flow for 4D View Synthesis and Video Processing](https://mlsanity.com/paper/2012.09790/) (2020)
- [Global Structure-from-Motion Revisited](https://mlsanity.com/paper/2407.20219/) (2024)
- [Learning 3D Semantic Scene Graphs from 3D Indoor Reconstructions](https://mlsanity.com/paper/2004.03967/) (2020)
- [Convolutions Die Hard: Open-Vocabulary Segmentation with Single Frozen Convolutional CLIP](https://mlsanity.com/paper/2308.02487/) (2023)
- [Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation](https://mlsanity.com/paper/2403.17846/) (2024)
- [HyperReel: High-Fidelity 6-DoF Video with Ray-Conditioned Sampling](https://mlsanity.com/paper/2301.02238/) (2023)
- [Clio: Real-time Task-Driven Open-Set 3D Scene Graphs](https://mlsanity.com/paper/2404.13696/) (2024)
- [Do Different Tracking Tasks Require Different Appearance Models?](https://mlsanity.com/paper/2107.02156/) (2021)
- [Panoptic Video Scene Graph Generation](https://mlsanity.com/paper/2311.17058/) (2023)
- [4D Panoptic Scene Graph Generation](https://mlsanity.com/paper/2405.10305/) (2024)
- [Pair then Relation: Pair-Net for Panoptic Scene Graph Generation](https://mlsanity.com/paper/2307.08699/) (2023)
- [Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps](https://mlsanity.com/paper/1709.05533/) (2017)
- [Polaris: Open-ended Interactive Robotic Manipulation via Syn2Real Visual Grounding and Large Language Models](https://mlsanity.com/paper/2408.07975/) (2024)
- [Topo-Field: Topometric mapping with Brain-inspired Hierarchical Layout-Object-Position Fields](https://mlsanity.com/paper/2406.05985/) (2024)
- [LOG-Nav: Efficient Layout-Aware Object-Goal Navigation with Hierarchical Planning](https://mlsanity.com/paper/2505.06131/) (2025)

## Built on by (most cited first, 2 of 2)

- [FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning](https://mlsanity.com/paper/2604.03696/) (2026)
- [FOGMACHINE -- Leveraging Discrete-Event Simulation and Scene Graphs for Modeling Hierarchical, Interconnected Environments under Partial Observations from Mobile Agents](https://mlsanity.com/paper/2510.09483/) (2025)

## Abstract (arXiv)

Autonomous operation of service robotics in human-centric scenes remains challenging due to the need for understanding of changing environments and context-aware decision-making. While existing approaches like topological maps offer efficient spatial priors, they fail to model transient object relationships, whereas dense neural representations (e.g., NeRF) incur prohibitive computational costs. Inspired by the hierarchical scene representation and video scene graph generation works, we propose Hi-Dyna Graph, a hierarchical dynamic scene graph architecture that integrates persistent global layouts with localized dynamic semantics for embodied robotic autonomy. Our framework constructs a global topological graph from posed RGB-D inputs, encoding room-scale connectivity and large static objects (e.g., furniture), while environmental and egocentric cameras populate dynamic subgraphs with object position relations and human-object interaction patterns. A hybrid architecture is conducted by anchoring these subgraphs to the global topology using semantic and spatial constraints, enabling seamless updates as the environment evolves. An agent powered by large language models (LLMs) is employed to interpret the unified graph, infer latent task triggers, and generate executable instructions grounded in robotic affordances. We conduct complex experiments to demonstrate Hi-Dyna Grap's superior scene representation effectiveness. Real-world deployments validate the system's practicality with a mobile manipulator: robotics autonomously complete complex tasks with no further training or complex rewarding in a dynamic scene as cafeteria assistant. See https://anonymous.4open.science/r/Hi-Dyna-Graph-B326 for video demonstration and more details.