ResearchBenchmarksArticulated 3D Scene Graph Reconstruction on Kitchen simulatedArticulated 3D Scene Graph Reconstruction on Kitchen simulatedFollow98.6Mesh Recovery PrecisionPandora87.88890.66993.4596.231Mar 30, 2026Evaluation resultsMethodMethodLinksMesh Recovery PrecisionMesh Recovery RecallMesh Recovery F1Static Objects PrecisionStatic Objects RecallStatic Objects F1Dynamic Objects PrecisionDynamic Objects RecallDynamic Objects F1Object Relationships PrecisionObject Relationships RecallObject Relationships F1Pandora2026.0398.64662.7759081.810091.795.7100100100NoArtarticulate part geomet...articulate part geometry=None2026.0398.5466357.193.370.9———30.75041.2Khronos2026.0392.750.665.466.746.754.916.86.99.8———Hydra2026.0388.350.664.37562.168——————