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README

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
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 RSS24 Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation UniFreiburg project, github
2024-03 ECCV24 SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphs ETH 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 CoRL25 GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering CMU project
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 AAAI25 TB-HSU: Hierarchical 3D Scene Understanding with Contextual Affordances USYD github
2025-02 IROS25 DynamicGSG: Dynamic 3D Gaussian Scene Graphs for Environment Adaptation BIT 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 Open-Vocabulary Functional 3D Scene Graphs for Real-World Indoor Spaces ETH project, github
2025-03 arXiv25 vS-Graphs: Integrating Visual SLAM and Situational Graphs through Multi-level Scene Understanding UniLu project
2025-03 arXiv25 Exploring 3D Activity Reasoning and Planning: From Implicit Human Intentions to Route-Aware Planning NTU -
2025-03 IROS25 REACT: Real-time Efficient Attribute Clustering and Transfer for Updatable 3D Scene Graph AALTO -
2025-03 IROS25 GaussianGraph: 3D Gaussian-based Scene Graph Generation for Open-world Scene Understanding BIT project, github
2025-03 ICRA25 IRef-VLA: A Benchmark for Interactive Referential Grounding with Imperfect Language in 3D Scenes CMU github

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Python22%

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website/src/components/DatePicker.tsx12 symbols
scripts/validate_papers.py12 symbols
website/src/pages/Contribute.tsx10 symbols
website/src/pages/AdvancedSearch.tsx10 symbols
website/src/components/ui/select.tsx10 symbols
website/src/components/Timeline.tsx7 symbols
scripts/table_to_json.py7 symbols
website/src/utils/bookmarks.ts6 symbols
website/src/components/SearchBar.tsx6 symbols
scripts/json_to_md.py5 symbols
website/src/pages/Home.tsx4 symbols
website/src/pages/Paper.tsx3 symbols

For agents

$ claude mcp add awesome-3D-scene-graphs \
  -- python -m otcore.mcp_server <graph>

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