This is a curated list of papers on 3D Scene Graphs (3DSGs) generation and applications that utilize this particular data structure. These applications include, but are not limited to, autonomous navigation, robotic manipulation, object retrieval, scene understanding, hierarchical path planning, goal-directed navigation, long-term motion prediction, and multi-robot collaboration.
The research papers have been categorized into different robotics macro areas by the project maintainers. If you notice any errors or believe that some papers are missing, please feel free to contribute or contact me.
| Date | Publication | Paper | Institute (first) | Extra |
|---|---|---|---|---|
| 2021-06 | CVPR21 | Exploiting Edge-Oriented Reasoning for 3D Point-based Scene Graph Analysis | USYD | Project, GitHub |
| 2022-07 | RSS22 | Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding | MIT | - |
| 2023-05 | ICRA23 | 3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs | ETH | GitHub |
| 2024-05 | RAL24 | Long-Term Human Trajectory Prediction using 3D Dynamic Scene Graphs | MIT | GitHub |
| 2024-09 | Arxiv | SpotLight: Robotic Scene Understanding through Interaction and Affordance Detection | ETH | Project, GitHub |
| 2024-10 | ECCV24 | SceneGraphLoc: Cross-Modal Coarse Visual Localization on 3D Scene Graphs | ETH | Project, GitHub |
| 2024-11 | CoRL24 | RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation | UIUC | Project, GitHub |
| Date | Publication | Paper | Institute (first) | Extra |
|---|---|---|---|---|
| 2022-05 | ICRA22 | Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks | MIT | GitHub |
| 2022-10 | IROS22 | Situational Graphs for Robot Navigation in Structured Indoor Environments | UniLu | Project, GitHub |
| 2023-11 | RAL23 | D-Lite: Navigation-Oriented Compression of 3D Scene Graphs for Multi-Robot Collaboration | MIT | - |
| 2024-05 | ICRA24 | Collaborative Dynamic 3D Scene Graphs for Automated Driving | UniFreiburg | Project, GitHub |
| 2024-07 | RSS24 | Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation | UniFreiburg | Project, GitHub |
| 2024-07 | Arxiv | Open Scene Graphs for Open World Object-Goal Navigation | NUS | Project |
| 2024-09 | Arxiv | Point2Graph: An End-to-end Point Cloud-based 3D Open-Vocabulary Scene Graph for Robot Navigation | UMich | Project |
| 2024-12 | NeurIPS24 | SG-Nav: Online 3D Scene Graph Prompting for LLM-based Zero-shot Object Navigation | THU | Project, GitHub |
| Date | Publication | Paper | Institute (first) | Extra |
|---|---|---|---|---|
| 2021-11 | CoRL21 | TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs | UToronto | Project, GitHub |
| 2023-11 | CoRL23 | SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning | QUT | Project |
| 2024-05 | ICRA24 | Optimal Scene Graph Planning with Large Language Model Guidance | UCSD | Project, GitHub |
| 2024-11 | CoRL24 | DELTA: Decomposed Efficient Long-Term Robot Task Planning using Large Language Models | Bosch | - |
| 2024-12 | ISRR24 | Task and Motion Planning in Hierarchical 3D Scene Graphs | MIT | - |
| Date | Publication | Paper | Institute (first) | Extra |
|---|---|---|---|---|
| 2019-10 | ICCV19 | 3D Scene Graph: A Structure for Unified Semantics, 3D Space, and Camera | Stanford | Project, GitHub |
| 2020-06 | CVPR20 | Learning 3D Semantic Scene Graphs from 3D Indoor Reconstructions | TUM | Project, GitHub |
