**3D Dynamic Scene Graph**, or **DSG**, is a representation that captures metric and semantic aspects of a dynamic environment. A DSG is a layered graph where nodes represent spatial concepts at different levels of abstraction, and edges represent spatio-temporal relations among nodes.

A general multimodal attention unit for any number of modalities. Graphical models inspire it, i.e., it infers several attention beliefs via aggregated interaction messages.

Factor Graph Attention

3D Dynamic Scene Graph

Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs

**MaxUp** is an adversarial data augmentation technique for improving the generalization performance of machine learning models. The idea is to generate a set of augmented data with some random perturbations or transforms, and minimize the maximum, or worst case loss over the augmented data.  By doing so, we implicitly introduce a smoothness or robustness regularization against the random perturbations, and hence improve the generation performance.  For example, in the case of Gaussian perturbation, MaxUp is asymptotically equivalent to using the gradient norm of the loss as a penalty to encourage smoothness.

Source	Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs
Year	2000
Data Source	CC BY-SA - https://paperswithcode.com