| Paper | Code | Relationship Recall | Object Recall | Object mRecall | Predicate Recall | Predicate mRecall | ModelName | ReleaseDate |
|---|---|---|---|---|---|---|---|---|
| NoPA: Non-Parametric Online 3D Scene Graph Generation | 53.2 | 69.0 | 66.4 | 61.4 | 29.4 | NoPA (n=256) | 2026-07-01 | |
| DeWorldSG: Depth-Aware 3D Semantic Scene Graph Generation via World-Model Priors | 50.2 | 75.0 | 70.6 | 57.3 | 36.0 | DeWorldSG | 2026-07-01 | |
| PUF: Plug-and-Play Uncertainty-Aware Fusion for Online 3D Scene Graph Generation | 46.0 | 69.7 | 65.8 | 51.4 | 28.2 | PUF-Gaussian | 2026-07-08 | |
| PUF: Plug-and-Play Uncertainty-Aware Fusion for Online 3D Scene Graph Generation | 40.3 | 65.5 | 64.1 | 46.1 | 21.8 | PUF-Voxel | 2026-07-08 | |
| FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images | ✓ Link | 27.9 | 62.4 | 63.8 | 33.0 | 18.0 | FROSS | 2025-07-26 |