# TB-HSU: Hierarchical 3D Scene Understanding with Contextual Affordances

arXiv: https://arxiv.org/abs/2412.05596 · HTML: https://mlsanity.com/paper/2412.05596/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 20 of its 25 references that are in the map.
- First posted on arXiv 7 Dec 2024.

## Builds on (most cited first, 20 of 20)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [ConceptNet 5.5: An Open Multilingual Graph of General Knowledge](https://mlsanity.com/paper/1612.03975/) (2016)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [OpenScene: 3D Scene Understanding with Open Vocabularies](https://mlsanity.com/paper/2211.15654/) (2022)
- [ConceptFusion: Open-set Multimodal 3D Mapping](https://mlsanity.com/paper/2302.07241/) (2023)
- [3D Scene Graph: A Structure for Unified Semantics, 3D Space, and Camera](https://mlsanity.com/paper/1910.02527/) (2019)
- [Learning 3D Semantic Scene Graphs from 3D Indoor Reconstructions](https://mlsanity.com/paper/2004.03967/) (2020)
- [RIO: 3D Object Instance Re-Localization in Changing Indoor Environments](https://mlsanity.com/paper/1908.06109/) (2019)
- [Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization](https://mlsanity.com/paper/2201.13360/) (2022)
- [SceneGraphFusion: Incremental 3D Scene Graph Prediction from RGB-D Sequences](https://mlsanity.com/paper/2103.14898/) (2021)
- [3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans](https://mlsanity.com/paper/2002.06289/) (2020)
- [Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs](https://mlsanity.com/paper/2101.06894/) (2021)
- [3D AffordanceNet: A Benchmark for Visual Object Affordance Understanding](https://mlsanity.com/paper/2103.16397/) (2021)
- [Clio: Real-time Task-Driven Open-Set 3D Scene Graphs](https://mlsanity.com/paper/2404.13696/) (2024)
- [3-D Scene Graph: A Sparse and Semantic Representation of Physical Environments for Intelligent Agents](https://mlsanity.com/paper/1908.04929/) (2019)
- [Neighbor-Vote: Improving Monocular 3D Object Detection through Neighbor Distance Voting](https://mlsanity.com/paper/2107.02493/) (2021)
- [Indoor Scene Recognition in 3D](https://mlsanity.com/paper/2002.12819/) (2020)

## Built on by (most cited first, 1 of 1)

- [3D Scene Graphs: Open Challenges and Future Directions](https://mlsanity.com/paper/2606.19383/) (2026)

## Abstract (arXiv)

The concept of function and affordance is a critical aspect of 3D scene understanding and supports task-oriented objectives. In this work, we develop a model that learns to structure and vary functional affordance across a 3D hierarchical scene graph representing the spatial organization of a scene. The varying functional affordance is designed to integrate with the varying spatial context of the graph. More specifically, we develop an algorithm that learns to construct a 3D hierarchical scene graph (3DHSG) that captures the spatial organization of the scene. Starting from segmented object point clouds and object semantic labels, we develop a 3DHSG with a top node that identifies the room label, child nodes that define local spatial regions inside the room with region-specific affordances, and grand-child nodes indicating object locations and object-specific affordances. To support this work, we create a custom 3DHSG dataset that provides ground truth data for local spatial regions with region-specific affordances and also object-specific affordances for each object. We employ a transformer-based model to learn the 3DHSG. We use a multi-task learning framework that learns both room classification and learns to define spatial regions within the room with region-specific affordances. Our work improves on the performance of state-of-the-art baseline models and shows one approach for applying transformer models to 3D scene understanding and the generation of 3DHSGs that capture the spatial organization of a room. The code and dataset are publicly available.