# Open-vocabulary 3D Semantic Segmentation on Replica With Background (office0-4, room0-2)

Source: [Open-vocabulary 3D Semantic Segmentation on Replica With Background (office0-4, room0-2)](<https://www.sota2.com/research/sota/open-vocabulary-3d-semantic-segmentation-on-replica-with-background-office0-4-room0-2>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-04-30T06:32:17.037Z

Evaluation of Open-vocabulary 3D Semantic Segmentation performance across the combined set of Replica scenes, including office0 through office4 and room0 through room2, reporting mIoU, F-mIoU, and Accuracy.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Open-vocabulary 3D Semantic Segmentation |
| Dataset (including any stated split) | Replica With Background (office0-4, room0-2) |
| Metric | mIoU |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 8 of 8 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [mIoU](<https://www.sota2.com/research/sota/open-vocabulary-3d-semantic-segmentation-on-replica-with-background-office0-4-room0-2.md?metric=mIoU>): Higher is better; unit: PERCENT.

- [F-mIoU](<https://www.sota2.com/research/sota/open-vocabulary-3d-semantic-segmentation-on-replica-with-background-office0-4-room0-2.md?metric=F-mIoU>): Higher is better; unit: PERCENT.

- [Accuracy](<https://www.sota2.com/research/sota/open-vocabulary-3d-semantic-segmentation-on-replica-with-background-office0-4-room0-2.md?metric=Accuracy>): Higher is better; unit: PERCENT.

## Recorded results

| Method | mIoU | Result date | Report paper |
| --- | --- | --- | --- |
| RADIO-ViPEGT | 28.19 | Not recorded | 69f2e1ea55a3c32af89fc4ff |
| RayFronts | 27.73 | Not recorded | 69f2e1ea55a3c32af89fc4ff |
| Trident-3D | 20.63 | Not recorded | 69f2e1ea55a3c32af89fc4ff |
| ConceptFusion | 20.38 | Not recorded | 69f2e1ea55a3c32af89fc4ff |
| HOV-SG | 19.29 | Not recorded | 69f2e1ea55a3c32af89fc4ff |
| RADIO-ViPE | 19 | Not recorded | 69f2e1ea55a3c32af89fc4ff |
| NACLIP-3D | 15.3 | Not recorded | 69f2e1ea55a3c32af89fc4ff |
| ConceptGraphs | 11.72 | Not recorded | 69f2e1ea55a3c32af89fc4ff |

### RADIO-ViPEGT

mIoU: 28.19. Result ID: 69f2f60847f34ce924d8a9ea.

[Reporting paper](<https://www.sota2.com/research/paper/69f2e1ea55a3c32af89fc4ff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69f2e1ea55a3c32af89fc4ff.md>)

[Implementation](<https://github.com/be2rlab/RADIO-ViPE>)

Recorded evaluation configuration: {"Online":true,"Calib Free":false,"Depth Free":false,"Pose Free":false}. This record does not assert independent reproduction.

### RayFronts

mIoU: 27.73. Result ID: 69f2f60847f34ce924d8a9e9.

[Reporting paper](<https://www.sota2.com/research/paper/69f2e1ea55a3c32af89fc4ff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77f01e209131cea76250.md>)

Recorded evaluation configuration: {"Online":true,"Calib Free":false,"Depth Free":false,"Pose Free":false}. This record does not assert independent reproduction.

### Trident-3D

mIoU: 20.63. Result ID: 69f2f60847f34ce924d8a9e8.

[Reporting paper](<https://www.sota2.com/research/paper/69f2e1ea55a3c32af89fc4ff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75af1e209131cea69496.md>)

[Implementation](<https://github.com/YuHengsss/Trident>)

Recorded evaluation configuration: {"Online":false,"Calib Free":false,"Depth Free":false,"Pose Free":false}. This record does not assert independent reproduction.

### ConceptFusion

mIoU: 20.38. Result ID: 69f2f60847f34ce924d8a9e4.

[Reporting paper](<https://www.sota2.com/research/paper/69f2e1ea55a3c32af89fc4ff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70f21e209131cea4e40e.md>)

Recorded evaluation configuration: {"Online":false,"Calib Free":false,"Depth Free":false,"Pose Free":false}. This record does not assert independent reproduction.

### HOV-SG

mIoU: 19.29. Result ID: 69f2f60847f34ce924d8a9e6.

[Reporting paper](<https://www.sota2.com/research/paper/69f2e1ea55a3c32af89fc4ff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74f71e209131cea64e5a.md>)

Recorded evaluation configuration: {"Online":false,"Calib Free":false,"Depth Free":false,"Pose Free":false}. This record does not assert independent reproduction.

### RADIO-ViPE

mIoU: 19. Result ID: 69f2f60847f34ce924d8a9eb.

[Reporting paper](<https://www.sota2.com/research/paper/69f2e1ea55a3c32af89fc4ff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69f2e1ea55a3c32af89fc4ff.md>)

[Implementation](<https://github.com/be2rlab/RADIO-ViPE>)

Recorded evaluation configuration: {"Online":true,"Calib Free":true,"Depth Free":true,"Pose Free":true}. This record does not assert independent reproduction.

### NACLIP-3D

mIoU: 15.3. Result ID: 69f2f60847f34ce924d8a9e7.

[Reporting paper](<https://www.sota2.com/research/paper/69f2e1ea55a3c32af89fc4ff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74de1e209131cea64548.md>)

Recorded evaluation configuration: {"Online":false,"Calib Free":false,"Depth Free":false,"Pose Free":false}. This record does not assert independent reproduction.

### ConceptGraphs

mIoU: 11.72. Result ID: 69f2f60847f34ce924d8a9e5.

[Reporting paper](<https://www.sota2.com/research/paper/69f2e1ea55a3c32af89fc4ff.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70b91e209131cea4cdcf.md>)

Recorded evaluation configuration: {"Online":false,"Calib Free":false,"Depth Free":false,"Pose Free":false}. This record does not assert independent reproduction.

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