3D Object Captioning on Objaverse
51.91Sentence-BERT Performance ScoreSAGE-13B
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SAGE-13BModel Scale=13B, Preference Optimization=true2026.03 | 51.91 | — | — | 52.87 | 51.03 | — | — | — | — | — | 9.72 | 13.25 | 16.99 | — | |
| SAGE-7BModel Scale=7B, Preference Optimization=true2026.03 | 50.11 | — | — | 50.98 | 49.7 | — | — | — | — | — | 9.5 | 12.66 | 16.95 | — | |
| PointAlignLLM Size=2.7B, 3D Data Size=730K, Input=Point Cloud2026.02 | 49.94 | — | — | — | 51.32 | — | — | — | 53.05 | 51.44 | — | — | — | — | |
| MiniGPT-3DLLM Size=2.7B, Trainable Params=0.05B (47.8M)2024.05 | 49.54 | — | — | 57.06 | 51.39 | 3.5 | 71 | 83.14 | — | — | — | — | — | — | |
| MiniGPT-3DLLM Size=2.7B, 3D Data Size=730K, Input=Point Cloud2026.02 | 49.54 | — | — | — | 51.39 | — | — | — | 48.17 | 49.7 | — | — | — | — | |
| SAGE-7B*Model Scale=7B, Preference Optimization=false2026.03 | 49.23 | — | — | 49.05 | 48.56 | — | — | — | — | — | 7.41 | 10.25 | 14.35 | — | |
| PointLLM-13BLLM Size=13B, 3D Data Size=730K, Input=Point Cloud2026.02 | 49.07 | — | — | — | 48.41 | — | — | — | 40.4 | 45.96 | — | — | — | — | |
| SAGE-13B*Model Scale=13B, Preference Optimization=false2026.03 | 48.99 | — | — | 48.54 | 50.18 | — | — | — | — | — | 7.98 | 12.48 | 14.27 | — | |
| ShapeLLM-13BLLM Size=13B, Trainable Params=13.04B2024.05 | 48.52 | — | — | 48.94 | 49.98 | — | — | — | — | — | — | — | — | — | |
| ShapeLLM-13BModel Scale=13B2026.03 | 48.52 | — | — | 48.94 | 49.98 | — | — | — | — | — | — | — | — | — | |
| PointLLM-7BLLM Size=7B, 3D Data Size=730K, Input=Point Cloud2026.02 | 48.5 | — | — | — | 48.92 | — | — | — | 42.2 | 46.54 | — | — | — | — | |
| 3D-PLOT-LLM (full)Stage-2 instruction-tuning samples=147K2026.06 | 48.31 | — | — | — | 48.67 | — | — | — | — | — | 3.94 | 7.22 | 12.59 | 40.93 | |
| PointLLM-PiSAStage-2 instruction-tuning samples=132K2026.06 | 48.21 | — | — | — | 48.38 | — | — | — | — | — | 3.81 | 7.29 | 12.32 | — | |
| ShapeLLM-7BLLM Size=7B, Trainable Params=7.04B2024.05 | 48.2 | — | — | 46.92 | 49.23 | — | — | — | — | — | — | — | — | — | |
| ShapeLLM-7BModel Scale=7B2026.03 | 48.2 | — | — | 46.92 | 49.23 | — | — | — | — | — | — | — | — | — | |
| 3D-PLOT-LLM (no-PV)Stage-2 instruction-tuning samples=70K2026.06 | 47.94 | — | — | — | 48.44 | — | — | — | — | — | 3.84 | 7.1 | 12.27 | 40.56 | |
| PointLLM-13BLLM Size=13B, Trainable Params=13.01B2024.05 | 47.91 | — | — | 48.15 | 49.12 | 3.1 | 84 | 78.75 | — | — | — | — | — | — | |
| PointLLM-13BModel Scale=13B2026.03 | 47.91 | — | — | 48.15 | 49.12 | — | — | — | — | — | 3.83 | 7.23 | 12.26 | — | |
| PointLLM (re-eval)Stage-2 instruction-tuning samples=70K2026.06 | 47.66 | — | — | — | 48.16 | — | — | — | — | — | 3.8 | 7.02 | 12.19 | 39.08 | |
| PointLLM-7BLLM Size=7B, Trainable Params=7.01B2024.05 | 47.47 | — | — | 44.85 | 48.55 | 3.04 | 66 | 82.14 | — | — | — | — | — | — | |
| PointLLM-7BModel Scale=7B2026.03 | 47.47 | — | — | 44.85 | 48.55 | — | — | — | — | — | 3.87 | 7.3 | 11.92 | — | |
| InstructBLIP-7BLLM Size=7B, Trainable Params=0.20B2024.05 | 47.41 | — | — | 45.34 | 48.48 | 2.56 | 77 | 76.99 | — | — | — | — | — | — | |
| InstructBLIP-7BModel Scale=7B2026.03 | 47.41 | — | — | 43.54 | 48.48 | — | — | — | — | — | 4.27 | 8.28 | 12.99 | — | |
| LLAVA-13BLLM Size=13B, Trainable Params=13.03B2024.05 | 46.37 | — | — | 38.28 | 45.9 | 2.43 | 86 | 73.97 | — | — | — | — | — | — | |
| LLaVA-13BModel Scale=13B2026.03 | 46.37 | — | — | 38.28 | 45.9 | — | — | — | — | — | 4.02 | 8.15 | 12.58 | — | |
| InstructBLIP-13BLLM Size=13B, Trainable Params=0.20B2024.05 | 45.9 | — | — | 44.97 | 48.86 | 2.58 | 113 | 69.56 | — | — | — | — | — | — | |
| InstructBLIP-13BModel Scale=13B2026.03 | 45.9 | — | — | 44.97 | 48.86 | — | — | — | — | — | 4.65 | 8.85 | 13.23 | — | |
| LLAVA-7BLLM Size=7B, Trainable Params=7.03B2024.05 | 45.61 | — | — | 46.71 | 47.1 | 2.76 | 86 | 76.3 | — | — | — | — | — | — | |
| LLaVA-7BModel Scale=7B2026.03 | 45.61 | — | — | 46.71 | 47.1 | — | — | — | — | — | 3.64 | 7.7 | 12.14 | — | |
| 3D-LLMLLM Size=13B2024.05 | 44.48 | — | — | 33.42 | 43.68 | 1.77 | 116 | 60.39 | — | — | — | — | — | — | |
| GPT4PointLLM Size=2.7B, 3D Data Size=660K, Input=Point Cloud2026.02 | 41.1 | — | — | — | 41.24 | — | — | — | 21.75 | 34.7 | — | — | — | — | |
| LLaVA-1.5-13BLLM Size=13B, 3D Data Size=0K, Input=Single-V. Img.2026.02 | 39.64 | — | — | — | 40.9 | — | — | — | 16 | 32.18 | — | — | — | — | |
| LLaVA-1.5-7BLLM Size=7B, 3D Data Size=0K, Input=Single-V. Img.2026.02 | 39.32 | — | — | — | 41.08 | — | — | — | 17.8 | 32.73 | — | — | — | — | |
| GPT-4o miniLLM Size=-, 3D Data Size=0K, Input=Single-V. Img.2026.02 | 38.7 | — | — | — | 39.13 | — | — | — | 26 | 34.61 | — | — | — | — | |
| InstructBLIP-7BLLM Size=7B, 3D Data Size=0K, Input=Single-V. Img.2026.02 | 35.79 | — | — | — | 36.67 | — | — | — | 16.1 | 29.52 | — | — | — | — | |
| ShapeLLM (re-eval)Stage-2 instruction-tuning samples=75K2026.06 | 35.49 | — | — | — | 36.13 | — | — | — | — | — | 6.02 | 8 | 12.33 | 12.86 | |
| InstructBLIP-13BLLM Size=13B, 3D Data Size=0K, Input=Single-V. Img.2026.02 | 33.52 | — | — | — | 35.6 | — | — | — | 13.79 | 27.64 | — | — | — | — | |
| Point-Bind LLMLLM Size=7B, 3D Data Size=-, Input=Point Cloud2026.02 | 27.29 | — | — | — | 25.35 | — | — | — | 1.93 | 18.19 | — | — | — | — | |
| Cap3DCost per 1k Objects=$8.35, Annotation Speed=65k / day, Hardware=8 x NVIDIA A40 GPUs2023.06 | — | — | 9.5 | — | — | — | — | — | — | — | — | — | — | — | |
| HumanCost per 1k Objects=$87.18, Annotation Speed=1.4k / day2023.06 | — | — | 9.5 | — | — | — | — | — | — | — | — | — | — | — |