3D Scene Graph Generation on Replica (room0-office4)
88Node PrecisionRAG-3DSG
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| RAG-3DSGscene=room12026.01 | 88 | 51 | 0 | 97 | 30 | |
| RAG-3DSGscene=room02026.01 | 87 | 61 | 1 | 93 | 27 | |
| RAG-3DSGscene=office22026.01 | 87 | 67 | 1 | 88 | 34 | |
| RAG-3DSGscene=room22026.01 | 85 | 47 | 0 | 94 | 35 | |
| RAG-3DSGscene=office32026.01 | 85 | 65 | 2 | 84 | 32 | |
| RAG-3DSGscene=Average2026.01 | 82 | — | — | 91 | — | |
| RAG-3DSGscene=office42026.01 | 79 | 53 | 1 | 86 | 22 | |
| ConceptGraphsscene=room02026.01 | 77 | 57 | 4 | 87 | 15 | |
| ConceptGraphsscene=office22026.01 | 77 | 48 | 3 | 79 | 14 | |
| ConceptGraphsscene=room12026.01 | 73 | 45 | 5 | 92 | 12 | |
| RAG-3DSGscene=office02026.01 | 73 | 48 | 1 | 93 | 27 | |
| RAG-3DSGscene=office12026.01 | 73 | 44 | 0 | 93 | 28 | |
| ConceptGraphs-Detectorscene=room12026.01 | 71 | 42 | 3 | 91 | 11 | |
| ConceptGraphsscene=office32026.01 | 69 | 59 | 4 | 78 | 9 | |
| ConceptGraphs-Detectorscene=office22026.01 | 68 | 44 | 2 | 86 | 14 | |
| ConceptGraphsscene=Average2026.01 | 68 | — | — | 82 | — | |
| ConceptGraphsscene=office12026.01 | 64 | 25 | 1 | 80 | 5 | |
| ConceptGraphsscene=room22026.01 | 63 | 48 | 3 | 91 | 11 | |
| ConceptGraphsscene=office02026.01 | 61 | 44 | 1 | 78 | 9 | |
| ConceptGraphs-Detectorscene=office02026.01 | 61 | 41 | 1 | 82 | 11 | |
| ConceptGraphsscene=office42026.01 | 61 | 41 | 5 | 67 | 3 | |
| ConceptGraphs-Detectorscene=office32026.01 | 60 | 57 | 2 | 77 | 13 | |
| ConceptGraphs-Detectorscene=Average2026.01 | 58 | — | — | 85 | — | |
| ConceptGraphs-Detectorscene=office42026.01 | 57 | 46 | 4 | 80 | 5 | |
| ConceptGraphs-Detectorscene=room02026.01 | 53 | 60 | 3 | 88 | 16 | |
| ConceptGraphs-Detectorscene=room22026.01 | 50 | 50 | 2 | 92 | 12 | |
| ConceptGraphs-Detectorscene=office12026.01 | 46 | 24 | 3 | 86 | 7 |