arxivcs.CVcs.RO2026-06-29
OP3DSG: Open-Vocabulary Part-Aware 3D Scene Graph Generation for Real-World Environments
3D scene graphs (3DSGs) provide a compact and structured abstraction of 3D environments. Although advances in foundation models have enabled open-vocabulary 3DSG generation, existing approaches remain object-centric and encode limited relational information -- restricting their a…