Hierarchical and Holistic Open-Vocabulary Functional 3D Scene Graphs for Indoor Spaces

ArXi:2605.15753v1 Announce Type: cross Functional 3D scene graphs offer a versatile and flexible representation for 3D scene understanding and robotic manipulation, defined by object nodes, interactive elements, and functional relationship edges. However, their potential remains underexplored due to the limited coverage of existing benchmarks and the overly straightforward design of previous pipelines, which primarily focus on large-scale furniture but lack of hierarchical structures. Therefore, in this work, we extend the benchmark coverage by