Implementing the STAG framework

[Xavier Hubbard]

Professor Dellaert just published a great blog post on doing Sense-Think-Act with Graphs: https://gtsam.org/2026/04/21/factor-graphs-and-world-models.html

I had a question about how one would practically implement something like this? Would you rebuild a new factor graph each time step as the "now" moment progresses forward? 

Curious if any had suggestions! 

- Xavier