| Paper | Code | Relationship Recall | Object Recall | Object mRecall | Predicate Recall | Predicate mRecall | ModelName | ReleaseDate |
|---|---|---|---|---|---|---|---|---|
| DeWorldSG: Depth-Aware 3D Semantic Scene Graph Generation via World-Model Priors | 38.2 | 35.4 | 38.1 | 45.3 | 27.3 | DeWorldSG | 2026-07-01 | |
| NoPA: Non-Parametric Online 3D Scene Graph Generation | 36.9 | 28.6 | 29.8 | 39.5 | 18.6 | NoPA (n=256) | 2026-07-01 | |
| PUF: Plug-and-Play Uncertainty-Aware Fusion for Online 3D Scene Graph Generation | 25.3 | 31.0 | 33.7 | 35.6 | 26.2 | PUF-Gaussian | 2026-07-08 | |
| PUF: Plug-and-Play Uncertainty-Aware Fusion for Online 3D Scene Graph Generation | 22.4 | 27.9 | 30.2 | 26.9 | 17.9 | PUF-Voxel | 2026-07-08 | |
| FROSS: Faster-than-Real-Time Online 3D Semantic Scene Graph Generation from RGB-D Images | ✓ Link | 22.3 | 26.1 | 28.8 | 27.8 | 20.4 | FROSS | 2025-07-26 |