# Open-vocabulary 3D Semantic Segmentation on Replica

Source: [Open-vocabulary 3D Semantic Segmentation on Replica](<https://www.sota2.com/research/sota/open-vocabulary-3d-semantic-segmentation-on-replica>)

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

Data updated: 2026-03-24T16:25:22.144Z

Evaluation of Open-vocabulary 3D Semantic Segmentation performance on the Replica dataset, reporting mAcc and F-mIoU.

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 |
| Metric | mAcc |
| 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

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

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

## Recorded results

| Method | mAcc | Result date | Report paper |
| --- | --- | --- | --- |
| KeySG | 45.81 | Not recorded | 68fa7bc51e209131cea8a565 |
| ConceptGraphs | 40.63 | Not recorded | 68fa7bc51e209131cea8a565 |
| ConceptGraphs-Detector | 38.72 | Not recorded | 68fa7bc51e209131cea8a565 |
| HOV-SG | 38.07 | Not recorded | 68fa7bc51e209131cea8a565 |
| Clio | 37.95 | Not recorded | 68fa7bc51e209131cea8a565 |
| ConceptFusion + SAM | 31.53 | Not recorded | 68fa7bc51e209131cea8a565 |
| ConceptFusion | 24.16 | Not recorded | 68fa7bc51e209131cea8a565 |
| Mask2former + CLIP | 10.42 | Not recorded | 68fa7bc51e209131cea8a565 |

### KeySG

mAcc: 45.81. Result ID: 69c2badd47f34ce924ac2db9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a565.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a565.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### ConceptGraphs

mAcc: 40.63. Result ID: 69c2badd47f34ce924ac2db5.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a565.md>)

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

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### ConceptGraphs-Detector

mAcc: 38.72. Result ID: 69c2badd47f34ce924ac2db6.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a565.md>)

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

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### HOV-SG

mAcc: 38.07. Result ID: 69c2badd47f34ce924ac2db8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a565.md>)

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

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Clio

mAcc: 37.95. Result ID: 69c2badd47f34ce924ac2db7.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a565.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74f31e209131cea64c89.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### ConceptFusion + SAM

mAcc: 31.53. Result ID: 69c2badd47f34ce924ac2db4.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a565.md>)

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

Recorded evaluation configuration: {"segmenter":"SAM \[42\]"}. This record does not assert independent reproduction.

### ConceptFusion

mAcc: 24.16. Result ID: 69c2badd47f34ce924ac2db3.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a565.md>)

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

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Mask2former + CLIP

mAcc: 10.42. Result ID: 69c2badd47f34ce924ac2db2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7bc51e209131cea8a565.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6cbf1e209131cea35c19.md>)

[Implementation](<https://bowenc0221.github.io/mask2former>)

Recorded evaluation configuration: {"Visual-Language Model":"CLIP \[46\]"}. This record does not assert independent reproduction.

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