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awesome-3D-scene-graphs

Awesome 3D Scene Graphs: a curated list of 3D scene graph generation and related resources! Now with a companion website to explore the literature!

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dennisrotondi

Dernière activité 29 sept. 2026
dennisrotondi/awesome-3D-scene-graphs

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Ce README est souvent en anglais.

Awesome 3D Scene Graphs Awesome PR's Welcome

A curated list of papers on 3D Scene Graphs (3DSGs), covering generation and applications such as autonomous navigation, robotic manipulation, scene understanding, path planning, and multi-robot collaboration.

This repository accompanies the survey paper "3D Scene Graphs: Open Challenges and Future Directions", a comprehensive review of the 3DSG literature. It also contains the source code for the companion website at 3dscenegraphs.com. The paper database lives in the papers/ folder (one JSON file per paper) and drives both this README and the website. To add or edit a paper, open a PR adding or modifying a file in papers/ (see contributing.md for the field format).

📑 Contents

3D Scene Understanding

Date Publication Paper Institute (first) Extra
2019-05 ACCV18 Visual graphs from motion (vgfm): Scene understanding with object geometry reasoning Italian Institute of Technology project, github
2022-03 MICCAI22 4D-OR: Semantic Scene Graphs for OR Domain Modeling TUM project, github
2022-06 arXiv22 Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding MIT -
2022-09 ICRA23 3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs ETH github
2023-02 RAL23 Towards Long-Term Retrieval-Based Visual Localization in Indoor Environments with Changes TUM -
2023-04 ICCV23 SGAligner: 3D Scene Alignment with Scene Graphs ETH project, github
2023-09 ICRA24 ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning UToronto project, github
2023-09 CoRL23 Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs Rutgers project, github
2023-12 RAL24 Indoor and Outdoor 3D Scene Graph Generation via Language-Enabled Spatial Ontologies MIT -
2024-01 IJCARS24 Holistic OR domain modeling: a semantic scene graph approach TUM github
2024-02 ICRA24 Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation LTU -
2024-03 ECCV24 SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphs ETH project, github
2024-03 RSS24 Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation UniFreiburg project, github
2024-03 RAL24 OpenGraph: Open-Vocabulary Hierarchical 3D Graph Representation in Large-Scale Outdoor Environments BIT github
2024-04 RAL24 Clio: Real-time Task-Driven Open-Set 3D Scene Graphs MIT github
2024-04 ECCV24 “Where am I?” Scene Retrieval with Language ETH -
2024-05 RAL24 Long-Term Human Trajectory Prediction using 3D Dynamic Scene Graphs MIT github
2024-06 ICRA25 Beyond Bare Queries: Open-Vocabulary Object Grounding with 3D Scene Graph MIPT project, github
2024-06 NeurIPS24 SpatialRGPT: Grounded Spatial Reasoning in Vision-Language Models UCSD project, github
2024-07 RAL24 ViewInfer3D: 3D Visual Grounding Based on Embodied Viewpoint Inference BUPT -
2024-09 arXiv25 Embodied-RAG: General Non-parametric Embodied Memory for Retrieval and Generation CMU project
2024-09 HUMANOIDS25 SpotLight: Robotic Scene Understanding through Interaction and Affordance Detection ETH project, github
2024-11 ICCV25 Open-Vocabulary Octree-Graph for 3D Scene Understanding ShanghaiAI -
2024-11 RAL25 Lost & Found: Tracking Changes from Egocentric Observations in 3D Dynamic Scene Graphs ETH project, github
2024-12 CVPR25 Relationfield: Relate anything in radiance fields Bosch project, github
2024-12 AAAI25 TB-HSU: Hierarchical 3D Scene Understanding with Contextual Affordances USYD github
2024-12 CoRL25 GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering CMU project
2024-12 arXiv24 3DGraphLLM: Combining Semantic Graphs and Large Language Models for 3D Scene Understanding AIRI github
2025-02 IROS25 DynamicGSG: Dynamic 3D Gaussian Scene Graphs for Environment Adaptation BIT github
2025-03 CVPR25 Open-Vocabulary Functional 3D Scene Graphs for Real-World Indoor Spaces ETH project, github
2025-03 IROS25 GaussianGraph: 3D Gaussian-based Scene Graph Generation for Open-world Scene Understanding BIT project, github
2025-03 arXiv25 vS-Graphs: Integrating Visual SLAM and Situational Graphs through Multi-level Scene Understanding UniLu project
2025-03 CVPR25 MM-OR: A Large Multimodal Operating Room Dataset for Semantic Understanding of High-Intensity Surgical Environments TUM project, github
2025-03 ICRA25 IRef-VLA: A Benchmark for Interactive Referential Grounding with Imperfect Language in 3D Scenes CMU github
2025-03 IROS25 FunGraph: Functionality Aware 3D Scene Graphs for Language-Prompted Scene Interaction UniStuttgart project, github
2025-03 IROS25 REACT: Real-time Efficient Attribute Clustering and Transfer for Updatable 3D Scene Graph AALTO -
2025-03 arXiv25 Exploring 3D Activity Reasoning and Planning: From Implicit Human Intentions to Route-Aware Planning NTU -
2025-04 TCSVT25 Visual Environment-Interactive Planning for Embodied Complex-Question Answering XDU -
2025-05 NeurIPS25 EgoExOR: An Ego-Exo-Centric Operating Room Dataset for Surgical Activity Understanding TUM project, github
2025-05 ICRA25 Estimating Commonsense Scene Composition on Belief Scene Graphs LTU -
2025-06 arXiv25 FreeQ-Graph: Free-form Querying with Semantic Consistent Scene Graph for 3D Scene Understanding ZJU -
2025-07 arXiv25 Open-Vocabulary Indoor Object Grounding with 3D Hierarchical Scene Graph MIPT github
2025-07 ICCV25 FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images NTHU github
2025-09 IROS26 Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots KTH -
2025-09 arXiv25 SGAligner++: Cross-Modal Language-Aided 3D Scene Graph Alignment TUM project
2025-09 arXiv25 Queryable 3D Scene Representation: A Multi-Modal Framework for Semantic Reasoning and Robotic Task Planning CSIRO -
2025-10 arXiv25 Structured Interfaces for Automated Reasoning with 3D Scene Graphs MIT -
2025-10 RAL25 Event-Grounding Graph: Unified Spatio-Temporal Scene Graph from Robotic Observations AALTO github
2025-10 TVCG25 SGSG: Stroke-Guided Scene Graph Generation BUAA github
2025-10 IROS25 OSMa-Bench: Evaluating Open Semantic Mapping Under Varying Lighting Conditions ITMO University project, github
2025-10 arXiv25 ZING-3D: Zero-shot Incremental 3D Scene Graphs via Vision-Language Models BITS Pilani -
2025-10 ICRA26 KeySG: Hierarchical Keyframe-Based 3D Scene Graphs UniStuttgart project
2025-11 AAAI26 Open-World 3D Scene Graph Generation for Retrieval-Augmented Reasoning LNUT -
2025-11 CVPR26 MSGNav: Unleashing the Power of Multi-modal 3D Scene Graph for Zero-Shot Embodied Navigation XMU github
2025-11 AAAI26 Sparse3DPR: Training-Free 3D Hierarchical Scene Parsing and Task-Adaptive Subgraph Reasoning from Sparse RGB Views CAS -
2025-11 CVPR26 Describe Anything Anywhere At Any Moment MIT project, github
2025-12 arXiv25 View-on-Graph: Zero-Shot 3D Visual Grounding via Vision-Language Reasoning on Scene Graphs DUT -
2025-12 arXiv25 Vision to Geometry: 3D Spatial Memory for Sequential Embodied MLLM Reasoning and Exploration MSU -
2025-12 arXiv25 ArtiSG: Functional 3D Scene Graph Construction via Human-demonstrated Articulated Objects Manipulation Tsinghua -
2026-01 WACV26 VIZOR: Viewpoint-Invariant Zero-Shot Scene Graph Generation for 3D Scene Reasoning IIIT-H project
2026-02 ICRA26 Relationship-Aware Hierarchical 3D Scene Graph for Task Reasoning NTNU -
2026-02 arXiv26 Articulated 3D Scene Graphs for Open-World Mobile Manipulation UniFreiburg -
2026-02 arXiv26 INHerit-SG: Incremental Hierarchical Semantic Scene Graphs with RAG-Style Retrieval NJU project
2026-02 arXiv26 Relational Scene Graphs for Object Grounding of Natural Language Commands AALTO -
2026-02 arXiv26 A Scene Graph Backed Approach to Open Set Semantic Mapping DFKI -
2026-03 arXiv26 SGR3 Model: Scene Graph Retrieval-Reasoning Model in 3D KIT -
2026-03 arXiv26 ToLL: Topological Layout Learning with Asymmetric Cross-View Structural Distillation for 3D Scene Graph Generation Pretraining UESTC github
2026-03 arXiv26 OGScene3D: Incremental Open-Vocabulary 3D Gaussian Scene Graph Mapping for Scene Understanding Shanghai Jiao Tong University github
2026-04 ICML26 Learning Gaussian Mixture-distributed Prototypes for 3D Scene Graph Generation from RGB-D Sequences NJUST -
2026-04 CVPR26 FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning ETH project
2026-04 ACL26 CAPruner: Conceptual-Adjacent Scene Graph Pruner for Enhancing 3D Spatial Reasoning of Large Language Models SUSTech github
2026-05 arXiv26 SceneGraphGrounder: Zero-Shot 3D Visual Grounding via Structured Scene Graph Matching CU Boulder -
2026-05 arXiv26 Hierarchical and Holistic Open-Vocabulary Functional 3D Scene Graphs for Indoor Spaces THU -
2026-05 arXiv26 DGSG-Mind: Dynamic 3D Gaussian Scene Graphs for Long-Term Scene Understanding and Grounding BIT project
2026-05 arXiv26 RGB-only Active 3D Scene Graph Generation for Indoor Mobile Robots Oxford -
2026-05 arXiv26 FOUND-IT: Foundation-model-first Task-driven 3D Scene Graphs with Granularity on Demand MIT -
2026-05 arXiv26 OpenSGA: Efficient 3D Scene Graph Alignment in the Open World TU Delft project
2026-05 ICML26 PSG-Nav: Probabilistic Scene Graph Navigation via Multiverse Decision Making HKUST project
2026-06 ECCV26 Think While You Map: Asynchronous Vision-Language Agents for Incremental 3D Scene Graphs UniStuttgart project
2026-06 arXiv26 Remember with Confidence: Uncertainty Quantification for Spatio-temporal Memory with Probabilistic Guarantees MIT -
2026-06 ECCV26 OP3DSG: Open-Vocabulary Part-Aware 3D Scene Graph Generation for Real-World Environments GIST project
2026-06 arXiv26 PROSE: Training-Free Egocentric Scene Registration with Vision-Language Models ETH project
2026-06 arXiv26 Not All Relations Rotate Alike: Transformation-Aware Decoupling for Viewpoint-Robust 3D Scene Graph Generation NWPU project, github
2026-06 arXiv26 SGFormer++: Semantic Graph Transformer for Incremental 3D Scene Graph Generation BUPT github
2026-06 ECCV26 Graph-GSReg: Leveraging 3D Scene Graphs for Gaussian Splatting Registration Yonsei project
2026-06 arXiv26 PhysGraph: A Physics-aware 3D Scene Graph for Perception and Reasoning DUKE project
2026-06 arXiv26 Occupancy-Grounded Room Segmentation for Hierarchical 3D Scene Graphs UTU github
2026-06 arXiv26 Worth Remembering: Surprise-Gated Robot Episodic Memory MIT -
2026-06 ICRA26 T-FunS3D: Task-Driven Hierarchical Open-Vocabulary 3D Functionality Segmentation TU Delft project
2026-07 ECCV26 Beyond Isolated Objects: Relationship-aware Open-Vocabulary 3D Scene Understanding via 3D Scene Graph Analysis ZJU project, github
2026-07 ECCV26 NoPA: Non-Parametric Online 3D Scene Graph Generation NUS -
2026-07 arXiv26 Just-In-Time Scene Graph Growth: Combating Perceptual Saturation in Long-Horizon Robotics HKUST -
2026-07 RSS26 SuperMap: A Spatio-Temporal SLAM System for Visual-Language Navigation CMU project
2026-07 ECCV26 DeWorldSG: Depth-Aware 3D Semantic Scene Graph Generation via World-Model Priors KAIST project
2026-07 ECCV26 PUF: Plug-and-Play Uncertainty-Aware Fusion for Online 3D Scene Graph Generation LUH github
2026-07 IROS26 3D Scene Graph Prediction: Generating Hierarchical Models from Partially Observed Environments MIT -
2026-08 arXiv26 GESTO: Human-Centric Spatio-Temporal Memory for Reasoning in Dynamic Scenes KTH -
2026-08 arXiv26 Generation of High-Level Concepts in 3D Scene Graphs via Autoregressive Diffusion UniLu -
2026-08 arXiv26 OVIP-SG: Open-Vocabulary Instance-Preserving Scene Graphs for Mapping and Retrieval of Small, Fine-Grained Objects XJTU github
2026-08 arXiv26 Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments RAI Institute -
2026-09 arXiv26 FunArt: Decoding Functional Structure and Articulation from Generative 3D Latents UniStuttgart -
2026-09 arXiv26 DSG: Dynamic 3D Scene Graph Construction for Embodied Agents in Changing Indoor Environments HIT -
2026-09 CoRL26 Functional-SLAM: Interaction-Aware Mapping with Online Functional Scene Graphs THU github
2026-09 arXiv26 TrackGraph: Online Open-Vocabulary 3D Scene Graphs via Image-Space Tracking NTNU -
2026-09 arXiv26 GraFT: A Training-Free Framework for Spatial Reasoning in Multimodal Large Language Models via 3D Scene Graphs Huawei -
2026-09 arXiv26 Hierarchical Aggregation of Semantic Uncertainty in 3D Scene Graphs UTU -

Generation and Mapping

Date Publication Paper Institute (first) Extra
2019-05 ACCV18 Visual graphs from motion (vgfm): Scene understanding with object geometry reasoning Italian Institute of Technology project, github
2019-08 TOC19 3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents KAIST github
2019-10 ICCV19 3D Scene Graph: A Structure for Unified Semantics, 3D Space, and Camera Stanford project, github
2020-02 RSS20 3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans MIT -
2020-04 CVPR20 Learning 3D Semantic Scene Graphs from 3D Indoor Reconstructions TUM project, github
2021-01 IJRR21 Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs MIT github
2021-03 CVPR21 SceneGraphFusion: Incremental 3D Scene Graph Prediction from RGB-D Sequences TUM project, github
2021-03 CVPR21 Exploiting Edge-Oriented Reasoning for 3D Point-based Scene Graph Analysis USYD project, github
2021-08 ICRA22 Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks MIT github
2021-12 NeurIPS21 Knowledge-inspired 3D Scene Graph Prediction in Point Cloud BUAA -
2022-01 RSS22 Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization MIT github
2022-02 RAL22 Situational Graphs for Robot Navigation in Structured Indoor Environments UniLu project, github
2022-03 MICCAI22 4D-OR: Semantic Scene Graphs for OR Domain Modeling TUM project, github
2022-09 ICRA23 3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs ETH github
2022-09 RAL23 D-Lite: Navigation-Oriented Compression of 3D Scene Graphs for Multi-Robot Collaboration MIT -
2022-10 TVCG22 Explore Contextual Information for 3D Scene Graph Generation DUT -
2022-12 RAL23 S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations UniLu project, github
2023-02 RAL23 Towards Long-Term Retrieval-Based Visual Localization in Indoor Environments with Changes TUM -
2023-03 AAAI24 SGFormer: Semantic Graph Transformer for Point Cloud-based 3D Scene Graph Generation BJUT github
2023-03 CVPR23 VL-SAT: Visual-Linguistic Semantics Assisted Training for 3D Semantic Scene Graph Prediction in Point Cloud BUAA github
2023-04 IROS23 Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams MIT -
2023-04 ICCV23 SGAligner: 3D Scene Alignment with Scene Graphs ETH project, github
2023-05 CVPR23 Incremental 3D Semantic Scene Graph Prediction from RGB Sequences TUM -
2023-05 IJRR24 Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems MIT project, github
2023-06 CVPR23 3D Spatial Multimodal Knowledge Accumulation for Scene Graph Prediction in Point Cloud XDU project, github
2023-07 CoRL23 SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning QUT project
2023-08 CASE23 3D Scene Graph Prediction on Point Clouds Using Knowledge Graphs UCSD -
2023-09 ICRA24 ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning UToronto project, github
2023-09 AAAI25 SayNav: Grounding Large Language Models for Dynamic Planning to Navigation in New Environments SRI project
2023-09 IROS24 Learning High-level Semantic-Relational Concepts for SLAM UniLu -
2023-09 CoRL23 Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs Rutgers project, github
2023-09 ICRA24 Collaborative Dynamic 3D Scene Graphs for Automated Driving UniFreiburg project, github
2023-09 WACV24 SGRec3D: Self-Supervised 3D Scene Graph Learning via Object-Level Scene Reconstruction Bosch project
2023-10 3DV24 Lang3DSG: Language-based contrastive pre-training for 3D Scene Graph prediction Bosch project
2023-12 RAL24 Indoor and Outdoor 3D Scene Graph Generation via Language-Enabled Spatial Ontologies MIT -
2024-01 IJCARS24 Holistic OR domain modeling: a semantic scene graph approach TUM github
2024-02 CVPR24 Open3DSG: Open-Vocabulary 3D Scene Graphs from Point Clouds with Queryable Objects and Open-Set Relationships Bosch project, github
2024-02 CoRL24 RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation UIUC project, github
2024-03 RAL24 Language-Grounded Dynamic Scene Graphs for Interactive Object Search with Mobile Manipulation UniFreiburg project, github
2024-03 ECCV24 SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphs ETH project, github
2024-03 RSS24 Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation UniFreiburg project, github
2024-03 RAL24 OpenGraph: Open-Vocabulary Hierarchical 3D Graph Representation in Large-Scale Outdoor Environments BIT github
2024-04 TMM24 Weakly-Supervised 3D Scene Graph Generation via Visual-Linguistic Assisted Pseudo-labeling SZU -
2024-04 RAL24 Clio: Real-time Task-Driven Open-Set 3D Scene Graphs MIT github
2024-04 ICRA25 DELTA: Decomposed Efficient Long-Term Robot Task Planning using Large Language Models Bosch project, github
2024-04 ECCV24 “Where am I?” Scene Retrieval with Language ETH -
2024-05 RAL24 Long-Term Human Trajectory Prediction using 3D Dynamic Scene Graphs MIT github
2024-06 CVPRW24 EgoSG: Learning 3D Scene Graphs from Egocentric RGB-D Sequences USYD -
2024-06 CVPR24 CLIP-Driven Open-Vocabulary 3D Scene Graph Generation via Cross-Modality Contrastive Learning ECNU -
2024-06 ICRA25 Beyond Bare Queries: Open-Vocabulary Object Grounding with 3D Scene Graph MIPT project, github
2024-06 NeurIPS24 SpatialRGPT: Grounded Spatial Reasoning in Vision-Language Models UCSD project, github
2024-07 IJRR25 Open Scene Graphs for Open World Object-Goal Navigation NUS project, github
2024-07 RAL24 ViewInfer3D: 3D Visual Grounding Based on Embodied Viewpoint Inference BUPT -
2024-09 ICRA25 Metric-Semantic Factor Graph Generation based on Graph Neural Networks UniLu -
2024-09 HUMANOIDS25 SpotLight: Robotic Scene Understanding through Interaction and Affordance Detection ETH project, github
2024-09 ICRA25 Point2Graph: An End-to-end Point Cloud-based 3D Open-Vocabulary Scene Graph for Robot Navigation UMich project
2024-09 arXiv25 Embodied-RAG: General Non-parametric Embodied Memory for Retrieval and Generation CMU project
2024-10 NeurIPS24 SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation THU project, github
2024-10 RAL25 Dynamic Open-Vocabulary 3D Scene Graphs for Long-term Language-Guided Mobile Manipulation BUAA project, github
2024-10 ECCV24 Heterogeneous Graph Learning for Scene Graph Prediction in 3D Point Clouds SYSU github
2024-10 ICRA25 ConceptAgent: LLM-Driven Precondition Grounding and Tree Search for Robust Task Planning and Execution JHU -
2024-11 RAL25 Lost & Found: Tracking Changes from Egocentric Observations in 3D Dynamic Scene Graphs ETH project, github
2024-11 ICCV25 Open-Vocabulary Octree-Graph for 3D Scene Understanding ShanghaiAI -
2024-12 CoRL25 GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering CMU project
2024-12 AAAI25 TB-HSU: Hierarchical 3D Scene Understanding with Contextual Affordances USYD github
2024-12 CVPR25 Relationfield: Relate anything in radiance fields Bosch project, github
2024-12 arXiv24 3DGraphLLM: Combining Semantic Graphs and Large Language Models for 3D Scene Understanding AIRI github
2024-12 IROS25 MR-COGraphs: Communication-efficient Multi-Robot Open-vocabulary Mapping System via 3D Scene Graphs THU github
2025-01 RAL25 CuriousBot: Interactive Mobile Exploration via Actionable 3D Relational Object Graph Columbia project
2025-02 RAL25 S-Graphs 2.0 – A Hierarchical-Semantic Optimization and Loop Closure for SLAM UniLu -
2025-02 IROS25 DynamicGSG: Dynamic 3D Gaussian Scene Graphs for Environment Adaptation BIT github
2025-02 ICMCR25 Latent 3D Scene Graph with Aligned Visual-Language Perception for Object-Goal Navigation SUSTech -
2025-03 IROS25 FunGraph: Functionality Aware 3D Scene Graphs for Language-Prompted Scene Interaction UniStuttgart project, github
2025-03 CVPR25 MM-OR: A Large Multimodal Operating Room Dataset for Semantic Understanding of High-Intensity Surgical Environments TUM project, github
2025-03 CVPR25 Universal Scene Graph Generation NUS -
2025-03 IROS25 GaussianGraph: 3D Gaussian-based Scene Graph Generation for Open-world Scene Understanding BIT project, github
2025-03 CVPR25 Open-Vocabulary Functional 3D Scene Graphs for Real-World Indoor Spaces ETH project, github
2025-03 TCSVT25 History-Enhanced 3D Scene Graph Reasoning from RGB-D Sequences XDU github
2025-03 arXiv25 DYNEMO-SLAM: Dynamic Entity and Motion-Aware 3D Scene Graph SLAM UniLu -
2025-03 CVPR25 UniGoal: Towards Universal Zero-shot Goal-oriented Navigation THU project, github
2025-03 arXiv25 vS-Graphs: Integrating Visual SLAM and Situational Graphs through Multi-level Scene Understanding UniLu project
2025-03 ICRA25 IRef-VLA: A Benchmark for Interactive Referential Grounding with Imperfect Language in 3D Scenes CMU github
2025-03 IROS25 Collaborative Dynamic 3D Scene Graphs for Open-Vocabulary Urban Scene Understanding UniFreiburg project, github
2025-03 arXiv25 Long-Term Planning Around Humans in Domestic Environments with 3D Scene Graphs KTH -
2025-03 IROS25 REACT: Real-time Efficient Attribute Clustering and Transfer for Updatable 3D Scene Graph AALTO -
2025-04 TCSVT25 Visual Environment-Interactive Planning for Embodied Complex-Question Answering XDU -
2025-04 PAMI25 Hyperrectangle Embedding for Debiased 3D Scene Graph Prediction From RGB Sequences XDU -
2025-04 arXiv25 Graph2Nav: 3D Object-Relation Graph Generation to Robot Navigation SRI -
2025-04 CVPR25 ASHiTA: Automatic Scene-grounded HIerarchical Task Analysis MIT -
2025-05 arXiv25 Situationally-aware Path Planning Exploiting 3D Scene Graphs UniLu -
2025-05 ICRA25 Interaction-Driven Updates: 3D Scene Graph Maintenance During Robot Task Execution BUAA -
2025-05 IROS25 SPADE: Towards Scalable Path Planning Architecture on Actionable Multi-Domain 3D ScenE Graphs LTU -
2025-05 ICRA25 Parking-SG: Open-Vocabulary Hierarchical 3D Scene Graph Representation for Open Parking Environments BIT -
2025-05 arXiv25 SayCoNav: Utilizing Large Language Models for Adaptive Collaboration in Decentralized Multi-Robot Navigation SRI -
2025-05 arXiv26 Hi-Dyna Graph: Hierarchical Dynamic Scene Graph for Robotic Autonomy in Human-Centric Environments Fudan -
2025-05 NeurIPS25 EgoExOR: An Ego-Exo-Centric Operating Room Dataset for Surgical Activity Understanding TUM project, github
2025-06 CASE25 Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding NASA -
2025-06 arXiv25 FreeQ-Graph: Free-form Querying with Semantic Consistent Scene Graph for 3D Scene Understanding ZJU -
2025-06 ICME25 Open-Scene Understanding-oriented 3D Scene Graph Generation HIT github
2025-06 IROS25 TACS-Graphs: Traversability-Aware Consistent Scene Graphs for Ground Robot Indoor Localization and Mapping KAIST -
2025-06 arXiv25 IRS: Instance-Level 3D Scene Graphs via Room Prior Guided LiDAR-Camera Fusion SYSU -
2025-06 arXiv25 Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs MIT -
2025-06 arXiv25 Towards Terrain-Aware Task-Driven 3D Scene Graph Generation in Outdoor Environments BYU -
2025-07 ICCV25 FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images NTHU github
2025-07 arXiv25 Open-Vocabulary Indoor Object Grounding with 3D Hierarchical Scene Graph MIPT github
2025-08 TCDS25 SELM: From Efficient Autonomous Exploration to Long-term Monitoring in Semantic Level ZJU -
2025-08 ICRA25 Imaginative World Modeling with Scene Graphs for Embodied Agent Navigation UMich -
2025-08 IoTJ25 Hierarchical 3D Scene Graph based Semantic-Metric SLAM for Plant Inspection and Fruit Counting in Intelligent Hydroponics System PolyU github
2025-08 ICCV25 Statistical Confidence Rescoring for Robust 3D Scene Graph Generation from Multi-View Images NUS project, github
2025-09 arXiv25 Terra: Hierarchical Terrain-Aware 3D Scene Graph for Task-Agnostic Outdoor Mapping BYU -
2025-09 ICMLA25 Integrating Prior Observations for Incremental 3D Scene Graph Prediction DFKI github
2025-09 arXiv25 Human Interaction for Collaborative Semantic SLAM using Extended Reality UniLu -
2025-09 CoRL25 ObjectReact: Learning Object-Relative Control for Visual Navigation UniAdelaide project, github
2025-09 ICR25 Fast Path Planning with Hierarchical Approach Based on 3D Scene Graphs CAPITI -
2025-09 IROS26 Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots KTH -
2025-09 ICRA26 Compose by Focus: Scene Graph-based Atomic Skills Harvard project
2025-09 arXiv25 Queryable 3D Scene Representation: A Multi-Modal Framework for Semantic Reasoning and Robotic Task Planning CSIRO -
2025-09 OMNN25 ElevNav: Large Language Model-Guided Robot Navigation via 3D Scene Graphs in Elevator Environments MIPT github
2025-09 arXiv25 FSR-VLN: Fast and Slow Reasoning for Vision-Language Navigation with Hierarchical Multi-modal Scene Graph HorizonRobotics project
2025-09 arXiv25 Open-Vocabulary Spatio-Temporal Scene Graph for Robot Perception and Teleoperation Planning SCUT -
2025-09 arXiv25 SGAligner++: Cross-Modal Language-Aided 3D Scene Graph Alignment TUM project
2025-10 arXiv25 ZING-3D: Zero-shot Incremental 3D Scene Graphs via Vision-Language Models BITS Pilani -
2025-10 IROS25 OSMa-Bench: Evaluating Open Semantic Mapping Under Varying Lighting Conditions ITMO University project, github
2025-10 RAL25 Have We Scene It All? Scene Graph-Aware Deep Point Cloud Compression LTU -
2025-10 RAL25 Event-Grounding Graph: Unified Spatio-Temporal Scene Graph from Robotic Observations AALTO github
2025-10 ICCV25 Hierarchical 3D Scene Graphs Construction Outdoors ETH github
2025-10 ICRA26 KeySG: Hierarchical Keyframe-Based 3D Scene Graphs UniStuttgart project
2025-10 NeurIPS25 Object-Centric Representation Learning for Enhanced 3D Scene Graph Prediction KHU github
2025-10 TVCG25 SGSG: Stroke-Guided Scene Graph Generation BUAA github
2025-11 AAAI26 Sparse3DPR: Training-Free 3D Hierarchical Scene Parsing and Task-Adaptive Subgraph Reasoning from Sparse RGB Views CAS -
2025-11 AAAI26 Edge-Centric Relational Reasoning for 3D Scene Graph Prediction SYSU -
2025-11 CVPR26 Describe Anything Anywhere At Any Moment MIT project, github
2025-11 CVPR26 MSGNav: Unleashing the Power of Multi-modal 3D Scene Graph for Zero-Shot Embodied Navigation XMU github
2025-11 AAAI26 Open-World 3D Scene Graph Generation for Retrieval-Augmented Reasoning LNUT -
2025-11 BMVC25 Pandora: Articulated 3D Scene Graphs from Egocentric Vision MIT -
2025-12 arXiv25 View-on-Graph: Zero-Shot 3D Visual Grounding via Vision-Language Reasoning on Scene Graphs DUT -
2025-12 ICRA26 Aion: Towards Hierarchical 4D Scene Graphs with Temporal Flow Dynamics UTU github
2025-12 arXiv25 ArtiSG: Functional 3D Scene Graph Construction via Human-demonstrated Articulated Objects Manipulation Tsinghua -
2025-12 arXiv25 Vision to Geometry: 3D Spatial Memory for Sequential Embodied MLLM Reasoning and Exploration MSU -
2026-01 WACV26 VIZOR: Viewpoint-Invariant Zero-Shot Scene Graph Generation for 3D Scene Reasoning IIIT-H project
2026-01 AAAI26 Multi-view Invariance Learning for 3D Scene Graph Pre-training via Collaborative Cross-Modal Regularization UESTC -
2026-01 arXiv26 RAG-3DSG: Enhancing 3D Scene Graphs with Re-Shot Guided Retrieval-Augmented Generation HKUST -
2026-01 arXiv26 Lost-3DSG: Lightweight Open-Vocabulary 3D Scene Graphs with Semantic Tracking in Dynamic Environments Sapienza project, github
2026-02 arXiv26 Articulated 3D Scene Graphs for Open-World Mobile Manipulation UniFreiburg -
2026-02 arXiv26 Relational Scene Graphs for Object Grounding of Natural Language Commands AALTO -
2026-02 ICRA26 Relationship-Aware Hierarchical 3D Scene Graph for Task Reasoning NTNU -
2026-02 arXiv26 A Scene Graph Backed Approach to Open Set Semantic Mapping DFKI -
2026-02 arXiv26 MA3DSG: Multi-Agent 3D Scene Graph Generation for Large-Scale Indoor Environments GIST -
2026-02 arXiv26 INHerit-SG: Incremental Hierarchical Semantic Scene Graphs with RAG-Style Retrieval NJU project
2026-03 arXiv26 Rheos: Modelling Continuous Motion Dynamics in Hierarchical 3D Scene Graphs UTU -
2026-03 arXiv26 M2H-MX: Multi-Task Semantic and Geometric Perception for Real-Time Monocular 3D Scene Graph Construction UT -
2026-03 arXiv26 OGScene3D: Incremental Open-Vocabulary 3D Gaussian Scene Graph Mapping for Scene Understanding Shanghai Jiao Tong University github
2026-03 ICRA26 Knowledge-Guided Manipulation Using Multi-Task Reinforcement Learning MIRAI -
2026-03 arXiv26 ToLL: Topological Layout Learning with Asymmetric Cross-View Structural Distillation for 3D Scene Graph Generation Pretraining UESTC github
2026-03 arXiv26 SGR3 Model: Scene Graph Retrieval-Reasoning Model in 3D KIT -
2026-03 arXiv26 Relational Semantic Reasoning on 3D Scene Graphs for Open World Interactive Object Search UniFreiburg -
2026-04 ACL26 CAPruner: Conceptual-Adjacent Scene Graph Pruner for Enhancing 3D Spatial Reasoning of Large Language Models SUSTech github
2026-04 ICML26 Learning Gaussian Mixture-distributed Prototypes for 3D Scene Graph Generation from RGB-D Sequences NJUST -
2026-04 arXiv26 Predictive Spatio-Temporal Scene Graphs for Semi-Static Scenes Mila -
2026-04 TMLR26 Incremental3D: Real-time Incremental 3D Scene Generation with Scene Graphs IIT -
2026-04 CVPR26 FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning ETH project
2026-05 arXiv26 Hierarchical and Holistic Open-Vocabulary Functional 3D Scene Graphs for Indoor Spaces THU -
2026-05 arXiv26 LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction Oxford project
2026-05 arXiv26 DGSG-Mind: Dynamic 3D Gaussian Scene Graphs for Long-Term Scene Understanding and Grounding BIT project
2026-05 ICML26 PSG-Nav: Probabilistic Scene Graph Navigation via Multiverse Decision Making HKUST project
2026-05 arXiv26 OpenSGA: Efficient 3D Scene Graph Alignment in the Open World TU Delft project
2026-05 arXiv26 RGB-only Active 3D Scene Graph Generation for Indoor Mobile Robots Oxford -
2026-05 arXiv26 FOUND-IT: Foundation-model-first Task-driven 3D Scene Graphs with Granularity on Demand MIT -
2026-05 arXiv26 Fixed External Cameras as Common Prior Maps for Active 3D Scene Graph Generation Oxford -
2026-05 arXiv26 SceneGraphGrounder: Zero-Shot 3D Visual Grounding via Structured Scene Graph Matching CU Boulder -
2026-05 arXiv26 Mono-Hydra++: Real-Time Monocular Scene Graph Construction with Multi-Task Learning for 3D Indoor Mapping UT github
2026-06 ECCV26 Hierarchical 3D Scene Graph Construction and Belief-based Planning for Semantic Navigation PolyU -
2026-06 arXiv26 Hierarchical Object Representation for Spatial Robot Perception: Points, Meshes, and Superquadrics NUS github
2026-06 arXiv26 Remember with Confidence: Uncertainty Quantification for Spatio-temporal Memory with Probabilistic Guarantees MIT -
2026-06 RSS26 Embodiment Meets Environment: Toward Context-Aware, Safe Physical Caregiving Robots Cornell project
2026-06 arXiv26 Occupancy-Grounded Room Segmentation for Hierarchical 3D Scene Graphs UTU github
2026-06 arXiv26 Not All Relations Rotate Alike: Transformation-Aware Decoupling for Viewpoint-Robust 3D Scene Graph Generation NWPU project, github
2026-06 arXiv26 SGM-SLAM: Scene Graph Matching for Data-Efficient Distributed SLAM Dartmouth -
2026-06 arXiv26 SGFormer++: Semantic Graph Transformer for Incremental 3D Scene Graph Generation BUPT github
2026-06 ECCV26 Think While You Map: Asynchronous Vision-Language Agents for Incremental 3D Scene Graphs UniStuttgart project
2026-06 IROS26 From Pixels to Concepts: Growing Rich 3D Semantic Scene Graph Forests utilizing Foundation Models FZI github
2026-06 arXiv26 ObsGraph: Hierarchical Observation Representation for Embodied Reasoning and Exploration SNU -
2026-06 arXiv26 SG2Loc: Sequential Visual Localization on 3D Scene Graphs ETH github
2026-06 arXiv26 Worth Remembering: Surprise-Gated Robot Episodic Memory MIT -
2026-06 arXiv26 PhysGraph: A Physics-aware 3D Scene Graph for Perception and Reasoning DUKE project
2026-06 ICRA26 T-FunS3D: Task-Driven Hierarchical Open-Vocabulary 3D Functionality Segmentation TU Delft project
2026-07 ECCV26 DeWorldSG: Depth-Aware 3D Semantic Scene Graph Generation via World-Model Priors KAIST project
2026-07 arXiv26 CinemaTraj: Composing Atomic Camera Trajectories for 3D Scenes with LLM Agents TUM project
2026-07 IROS26 Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation MIT project, github
2026-07 ECCV26 PUF: Plug-and-Play Uncertainty-Aware Fusion for Online 3D Scene Graph Generation LUH github
2026-07 ECCV26 Beyond Isolated Objects: Relationship-aware Open-Vocabulary 3D Scene Understanding via 3D Scene Graph Analysis ZJU project, github
2026-07 arXiv26 Just-In-Time Scene Graph Growth: Combating Perceptual Saturation in Long-Horizon Robotics HKUST -
2026-07 RSS26 SuperMap: A Spatio-Temporal SLAM System for Visual-Language Navigation CMU project
2026-07 ECCV26 NoPA: Non-Parametric Online 3D Scene Graph Generation NUS -
2026-08 arXiv26 GESTO: Human-Centric Spatio-Temporal Memory for Reasoning in Dynamic Scenes KTH -
2026-08 arXiv26 OVIP-SG: Open-Vocabulary Instance-Preserving Scene Graphs for Mapping and Retrieval of Small, Fine-Grained Objects XJTU github
2026-08 arXiv26 Concept-Guided Exploration: Building Persistent, Actionable Scene Graphs UEx -
2026-08 arXiv26 Prior-SG: Task and Prior Driven Region Segmentation for Scene Graphs in Arbitrarily-Structured Environments RAI Institute -
2026-08 arXiv26 OpenBelief-Nav: Evidence-Preserving Object Memory for Open-Vocabulary Language-Guided Navigation VinMotion project
2026-09 CoRL26 Functional-SLAM: Interaction-Aware Mapping with Online Functional Scene Graphs THU github
2026-09 arXiv26 DSG: Dynamic 3D Scene Graph Construction for Embodied Agents in Changing Indoor Environments HIT -
2026-09 NeurIPS26 GraphWrit3R: End-to-End 3D Scene Graph Writing INSAIT project, github
2026-09 arXiv26 ProClosure: Hierarchical Room-Object Assignment using Progressive Boundary Closure from Monocular Video IIT Jodhpur github
2026-09 arXiv26 PORTER: Edge-Cloud Residency for Persistent 3D Scene Graph Memory HKUST -
2026-09 arXiv26 Kairos: Grounded Forecasting of Presence and Directional Flow in 4D Scene Graphs UTU github
2026-09 arXiv26 ChronoGraph: Functional 4D Scene Graphs with Vision-Language Models for Interaction Understanding and Grounded Planning ETH -
2026-09 arXiv26 Hierarchical Floorplan-Guided Vision-Language Exploration for Embodied Question Answering NTNU -
2026-09 arXiv26 FunArt: Decoding Functional Structure and Articulation from Generative 3D Latents UniStuttgart -
2026-09 TFR26 Open-Set 3D Scene Graphs for Field Robotics: An Outdoor Case Study BYU -
2026-09 CoRL26 MessyMem: Learning-from-Doing Memory for Mobile Manipulation Stanford project
2026-09 arXiv26 Probabilistic Scene Graphs: Hierarchical Representation and Real-time System KTH -
2026-09 arXiv26 TrackGraph: Online Open-Vocabulary 3D Scene Graphs via Image-Space Tracking NTNU -
2026-09 arXiv26 Yggdrasil: a Layer-First 3D Scene Graph for Real-Time Querying SDSU github
Date Publication Paper Institute (first) Extra
2021-08 ICRA22 Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks MIT github
2022-02 RAL22 Situational Graphs for Robot Navigation in Structured Indoor Environments UniLu project, github
2022-05 ICPR22 GraphMapper: Efficient Visual Navigation by Scene Graph Generation SRI -
2022-09 RAL23 D-Lite: Navigation-Oriented Compression of 3D Scene Graphs for Multi-Robot Collaboration MIT -
2023-09 AAAI25 SayNav: Grounding Large Language Models for Dynamic Planning to Navigation in New Environments SRI project
2023-09 IROS24 Learning High-level Semantic-Relational Concepts for SLAM UniLu -
2023-09 ICRA24 Collaborative Dynamic 3D Scene Graphs for Automated Driving UniFreiburg project, github
2024-03 ISRR24 Task and Motion Planning in Hierarchical 3D Scene Graphs MIT -
2024-03 RAL24 Language-Grounded Dynamic Scene Graphs for Interactive Object Search with Mobile Manipulation UniFreiburg project, github
2024-03 RSS24 Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation UniFreiburg project, github
2024-07 IJRR25 Open Scene Graphs for Open World Object-Goal Navigation NUS project, github
2024-09 ICRA25 Point2Graph: An End-to-end Point Cloud-based 3D Open-Vocabulary Scene Graph for Robot Navigation UMich project
2024-10 NeurIPS24 SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation THU project, github
2024-10 RAL25 Dynamic Open-Vocabulary 3D Scene Graphs for Long-term Language-Guided Mobile Manipulation BUAA project, github
2024-11 ICCV25 Open-Vocabulary Octree-Graph for 3D Scene Understanding ShanghaiAI -
2024-12 arXiv25 xFLIE: Leveraging Actionable Hierarchical Scene Representations for Autonomous Semantic-Aware Inspection Missions LTU -
2025-02 ICMCR25 Latent 3D Scene Graph with Aligned Visual-Language Perception for Object-Goal Navigation SUSTech -
2025-02 RAL25 S-Graphs 2.0 – A Hierarchical-Semantic Optimization and Loop Closure for SLAM UniLu -
2025-03 arXiv25 Long-Term Planning Around Humans in Domestic Environments with 3D Scene Graphs KTH -
2025-03 IROS25 Collaborative Dynamic 3D Scene Graphs for Open-Vocabulary Urban Scene Understanding UniFreiburg project, github
2025-03 CVPR25 UniGoal: Towards Universal Zero-shot Goal-oriented Navigation THU project, github
2025-04 arXiv25 Graph2Nav: 3D Object-Relation Graph Generation to Robot Navigation SRI -
2025-05 arXiv25 SayCoNav: Utilizing Large Language Models for Adaptive Collaboration in Decentralized Multi-Robot Navigation SRI -
2025-05 arXiv25 HCOA*: Hierarchical Class-ordered A* for Navigation in Semantic Environments GATECH -
2025-05 arXiv25 Situationally-aware Path Planning Exploiting 3D Scene Graphs UniLu -
2025-05 arXiv26 Hi-Dyna Graph: Hierarchical Dynamic Scene Graph for Robotic Autonomy in Human-Centric Environments Fudan -
2025-05 IROS25 SPADE: Towards Scalable Path Planning Architecture on Actionable Multi-Domain 3D ScenE Graphs LTU -
2025-05 ICRA25 Parking-SG: Open-Vocabulary Hierarchical 3D Scene Graph Representation for Open Parking Environments BIT -
2025-06 arXiv25 Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs MIT -
2025-06 arXiv25 IRS: Instance-Level 3D Scene Graphs via Room Prior Guided LiDAR-Camera Fusion SYSU -
2025-08 TCDS25 SELM: From Efficient Autonomous Exploration to Long-term Monitoring in Semantic Level ZJU -
2025-08 ICRA25 Imaginative World Modeling with Scene Graphs for Embodied Agent Navigation UMich -
2025-09 OMNN25 ElevNav: Large Language Model-Guided Robot Navigation via 3D Scene Graphs in Elevator Environments MIPT github
2025-09 arXiv25 Terra: Hierarchical Terrain-Aware 3D Scene Graph for Task-Agnostic Outdoor Mapping BYU -
2025-09 arXiv25 FSR-VLN: Fast and Slow Reasoning for Vision-Language Navigation with Hierarchical Multi-modal Scene Graph HorizonRobotics project
2025-09 CoRL25 ObjectReact: Learning Object-Relative Control for Visual Navigation UniAdelaide project, github
2025-09 IROS26 Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots KTH -
2025-10 RAL25 Have We Scene It All? Scene Graph-Aware Deep Point Cloud Compression LTU -
2025-11 CVPR26 MSGNav: Unleashing the Power of Multi-modal 3D Scene Graph for Zero-Shot Embodied Navigation XMU github
2025-12 arXiv25 Vision to Geometry: 3D Spatial Memory for Sequential Embodied MLLM Reasoning and Exploration MSU -
2025-12 ICRA26 Aion: Towards Hierarchical 4D Scene Graphs with Temporal Flow Dynamics UTU github
2025-12 NeurIPS25 Hierarchical Semantic-Augmented Navigation: Optimal Transport and Graph-Driven Reasoning for Vision-Language Navigation HUST -
2026-02 ICRA26 Relationship-Aware Hierarchical 3D Scene Graph for Task Reasoning NTNU -
2026-02 arXiv26 INHerit-SG: Incremental Hierarchical Semantic Scene Graphs with RAG-Style Retrieval NJU project
2026-03 arXiv26 Rheos: Modelling Continuous Motion Dynamics in Hierarchical 3D Scene Graphs UTU -
2026-03 arXiv26 Relational Semantic Reasoning on 3D Scene Graphs for Open World Interactive Object Search UniFreiburg -
2026-04 arXiv26 Predictive Spatio-Temporal Scene Graphs for Semi-Static Scenes Mila -
2026-05 ICML26 PSG-Nav: Probabilistic Scene Graph Navigation via Multiverse Decision Making HKUST project
2026-06 IROS26 SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation ZJU -
2026-06 ECCV26 Hierarchical 3D Scene Graph Construction and Belief-based Planning for Semantic Navigation PolyU -
2026-06 arXiv26 ObsGraph: Hierarchical Observation Representation for Embodied Reasoning and Exploration SNU -
2026-06 arXiv26 Hierarchical Object Representation for Spatial Robot Perception: Points, Meshes, and Superquadrics NUS github
2026-06 IROS26 From Pixels to Concepts: Growing Rich 3D Semantic Scene Graph Forests utilizing Foundation Models FZI github
2026-07 RSS26 SuperMap: A Spatio-Temporal SLAM System for Visual-Language Navigation CMU project
2026-08 arXiv26 OpenBelief-Nav: Evidence-Preserving Object Memory for Open-Vocabulary Language-Guided Navigation VinMotion project
2026-08 arXiv26 OVIP-SG: Open-Vocabulary Instance-Preserving Scene Graphs for Mapping and Retrieval of Small, Fine-Grained Objects XJTU github
2026-09 CoRL26 MessyMem: Learning-from-Doing Memory for Mobile Manipulation Stanford project
2026-09 TFR26 Open-Set 3D Scene Graphs for Field Robotics: An Outdoor Case Study BYU -
2026-09 arXiv26 Hierarchical Floorplan-Guided Vision-Language Exploration for Embodied Question Answering NTNU -

Planning

Date Publication Paper Institute (first) Extra
2019-08 TOC19 3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents KAIST github
2022-07 CoRL21 TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs UToronto project, github
2023-07 CoRL23 SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning QUT project
2023-09 CoRL23 Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs Rutgers project, github
2023-09 ICRA24 Optimal Scene Graph Planning with Large Language Model Guidance UCSD project, github
2023-09 ICRA24 ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning UToronto project, github
2023-09 AAAI25 SayNav: Grounding Large Language Models for Dynamic Planning to Navigation in New Environments SRI project
2024-02 CoRL24 RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation UIUC project, github
2024-03 ISRR24 Task and Motion Planning in Hierarchical 3D Scene Graphs MIT -
2024-03 RAL24 Language-Grounded Dynamic Scene Graphs for Interactive Object Search with Mobile Manipulation UniFreiburg project, github
2024-04 ICRA25 DELTA: Decomposed Efficient Long-Term Robot Task Planning using Large Language Models Bosch project, github
2024-09 HUMANOIDS25 SpotLight: Robotic Scene Understanding through Interaction and Affordance Detection ETH project, github
2024-10 RAL25 Dynamic Open-Vocabulary 3D Scene Graphs for Long-term Language-Guided Mobile Manipulation BUAA project, github
2024-10 ICRA25 ConceptAgent: LLM-Driven Precondition Grounding and Tree Search for Robust Task Planning and Execution JHU -
2024-11 ICCV25 Open-Vocabulary Octree-Graph for 3D Scene Understanding ShanghaiAI -
2024-11 ICRA25 Anticipatory Planning for Performant Long-Lived Robot in Large-Scale Home-Like Environments GMU -
2024-12 CoRL25 GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering CMU project
2024-12 arXiv25 xFLIE: Leveraging Actionable Hierarchical Scene Representations for Autonomous Semantic-Aware Inspection Missions LTU -
2025-01 RAL25 CuriousBot: Interactive Mobile Exploration via Actionable 3D Relational Object Graph Columbia project
2025-03 arXiv25 Exploring 3D Activity Reasoning and Planning: From Implicit Human Intentions to Route-Aware Planning NTU -
2025-03 IROS25 FunGraph: Functionality Aware 3D Scene Graphs for Language-Prompted Scene Interaction UniStuttgart project, github
2025-03 CVPR25 Open-Vocabulary Functional 3D Scene Graphs for Real-World Indoor Spaces ETH project, github
2025-04 TCSVT25 Visual Environment-Interactive Planning for Embodied Complex-Question Answering XDU -
2025-04 CVPR25 ASHiTA: Automatic Scene-grounded HIerarchical Task Analysis MIT -
2025-05 arXiv25 Situationally-aware Path Planning Exploiting 3D Scene Graphs UniLu -
2025-05 ICRA25 Interaction-Driven Updates: 3D Scene Graph Maintenance During Robot Task Execution BUAA -
2025-05 arXiv25 SayCoNav: Utilizing Large Language Models for Adaptive Collaboration in Decentralized Multi-Robot Navigation SRI -
2025-05 arXiv25 ManiTaskGen: A Comprehensive Task Generator for Benchmarking and Improving Vision-Language Agents on Embodied Decision-Making UC project
2025-05 arXiv26 Hi-Dyna Graph: Hierarchical Dynamic Scene Graph for Robotic Autonomy in Human-Centric Environments Fudan -
2025-06 arXiv25 Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs MIT -
2025-07 ICCV25 Event-Driven Storytelling with Multiple Lifelike Humans in a 3D Scene SNU project, github
2025-07 IROS25 Generating Actionable Robot Knowledge Bases by Combining 3D Scene Graphs with Robot Ontologies Uni Bremen -
2025-09 arXiv25 Queryable 3D Scene Representation: A Multi-Modal Framework for Semantic Reasoning and Robotic Task Planning CSIRO -
2025-09 ICR25 Fast Path Planning with Hierarchical Approach Based on 3D Scene Graphs CAPITI -
2025-09 arXiv25 Open-Vocabulary Spatio-Temporal Scene Graph for Robot Perception and Teleoperation Planning SCUT -
2025-09 ICRA26 Compose by Focus: Scene Graph-based Atomic Skills Harvard project
2025-10 ICRA26 Context Matters! Relaxing Goals with LLMs for Feasible 3D Scene Planning Sapienza project, github
2025-10 arXiv25 Structured Interfaces for Automated Reasoning with 3D Scene Graphs MIT -
2025-11 AAAI26 Open-World 3D Scene Graph Generation for Retrieval-Augmented Reasoning LNUT -
2025-11 BMVC25 Pandora: Articulated 3D Scene Graphs from Egocentric Vision MIT -
2025-12 arXiv25 ArtiSG: Functional 3D Scene Graph Construction via Human-demonstrated Articulated Objects Manipulation Tsinghua -
2025-12 NeurIPS25 Hierarchical Semantic-Augmented Navigation: Optimal Transport and Graph-Driven Reasoning for Vision-Language Navigation HUST -
2025-12 ICRA26 Aion: Towards Hierarchical 4D Scene Graphs with Temporal Flow Dynamics UTU github
2026-02 arXiv26 Articulated 3D Scene Graphs for Open-World Mobile Manipulation UniFreiburg -
2026-02 ICRA26 Relationship-Aware Hierarchical 3D Scene Graph for Task Reasoning NTNU -
2026-03 ICRA26 Knowledge-Guided Manipulation Using Multi-Task Reinforcement Learning MIRAI -
2026-03 arXiv26 Relational Semantic Reasoning on 3D Scene Graphs for Open World Interactive Object Search UniFreiburg -
2026-04 CVPR26 FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning ETH project
2026-05 arXiv26 Hierarchical and Holistic Open-Vocabulary Functional 3D Scene Graphs for Indoor Spaces THU -
2026-06 ECCV26 Hierarchical 3D Scene Graph Construction and Belief-based Planning for Semantic Navigation PolyU -
2026-06 RSS26 Embodiment Meets Environment: Toward Context-Aware, Safe Physical Caregiving Robots Cornell project
2026-06 IROS26 From Pixels to Concepts: Growing Rich 3D Semantic Scene Graph Forests utilizing Foundation Models FZI github
2026-06 IROS26 SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation ZJU -
2026-06 ECCV26 OP3DSG: Open-Vocabulary Part-Aware 3D Scene Graph Generation for Real-World Environments GIST project
2026-06 arXiv26 PhysGraph: A Physics-aware 3D Scene Graph for Perception and Reasoning DUKE project
2026-07 arXiv26 CinemaTraj: Composing Atomic Camera Trajectories for 3D Scenes with LLM Agents TUM project
2026-08 arXiv26 SG-Layout: Structured Scene Graph-Guided Layout Generation with LLMs Chongqing University -
2026-09 arXiv26 FunArt: Decoding Functional Structure and Articulation from Generative 3D Latents UniStuttgart -
2026-09 CoRL26 MessyMem: Learning-from-Doing Memory for Mobile Manipulation Stanford project
2026-09 arXiv26 Kairos: Grounded Forecasting of Presence and Directional Flow in 4D Scene Graphs UTU github
2026-09 arXiv26 ChronoGraph: Functional 4D Scene Graphs with Vision-Language Models for Interaction Understanding and Grounded Planning ETH -

Dataset

Date Publication Paper Institute (first) Extra
2019-10 ICCV19 3D Scene Graph: A Structure for Unified Semantics, 3D Space, and Camera Stanford project, github
2020-04 CVPR20 Learning 3D Semantic Scene Graphs from 3D Indoor Reconstructions TUM project, github
2022-03 MICCAI22 4D-OR: Semantic Scene Graphs for OR Domain Modeling TUM project, github
2024-02 ICRA24 Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation LTU -
2024-12 AAAI25 TB-HSU: Hierarchical 3D Scene Understanding with Contextual Affordances USYD github
2025-03 CVPR25 Open-Vocabulary Functional 3D Scene Graphs for Real-World Indoor Spaces ETH project, github
2025-03 ICRA25 IRef-VLA: A Benchmark for Interactive Referential Grounding with Imperfect Language in 3D Scenes CMU github
2025-03 CVPR25 MM-OR: A Large Multimodal Operating Room Dataset for Semantic Understanding of High-Intensity Surgical Environments TUM project, github
2025-05 NeurIPS25 EgoExOR: An Ego-Exo-Centric Operating Room Dataset for Surgical Activity Understanding TUM project, github
2025-05 ICRA25 Estimating Commonsense Scene Composition on Belief Scene Graphs LTU -
2025-07 ICCV25 FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images NTHU github
2025-10 TVCG25 SGSG: Stroke-Guided Scene Graph Generation BUAA github
2025-10 IROS25 OSMa-Bench: Evaluating Open Semantic Mapping Under Varying Lighting Conditions ITMO University project, github
2026-02 arXiv26 Articulated 3D Scene Graphs for Open-World Mobile Manipulation UniFreiburg -
2026-02 arXiv26 INHerit-SG: Incremental Hierarchical Semantic Scene Graphs with RAG-Style Retrieval NJU project
2026-04 CVPR26 FunFact: Building Probabilistic Functional 3D Scene Graphs via Factor-Graph Reasoning ETH project
2026-05 arXiv26 Hierarchical and Holistic Open-Vocabulary Functional 3D Scene Graphs for Indoor Spaces THU -
2026-05 arXiv26 OpenSGA: Efficient 3D Scene Graph Alignment in the Open World TU Delft project
2026-06 ECCV26 OP3DSG: Open-Vocabulary Part-Aware 3D Scene Graph Generation for Real-World Environments GIST project
2026-09 arXiv26 DSG: Dynamic 3D Scene Graph Construction for Embodied Agents in Changing Indoor Environments HIT -
2026-09 arXiv26 ChronoGraph: Functional 4D Scene Graphs with Vision-Language Models for Interaction Understanding and Grounded Planning ETH -

Other

Date Publication Paper Institute (first) Extra
2023-03 RiTA22 A Survey on 3D Scene Graphs: Definition, Generation and Application GIST -
2024-12 arXiv24 The Bare Necessities: Designing Simple, Effective Open-Vocabulary Scene Graphs Oxford -
2025-09 arXiv25 3D Scene Graphs in Robotics: A Unified Representation Bridging Geometry, Semantics, and Action UTU -
2026-01 SSRR25 Semantic Enrichment of CAD-Based Industrial Environments via Scene Graphs for Simulation and Reasoning Tohoku -
2026-02 TVCG26 SceneLinker: Compositional 3D Scene Generation via Semantic Scene Graph from RGB Sequences KAIST project
2026-03 CVPR26 ReLaGS: Relational Language Gaussian Splatting DFKI project
2026-06 arXiv26 3D Scene Graphs: Open Challenges and Future Directions UniStuttgart project, github

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