MessyKitchens: Contact-rich object-level 3D scene reconstruction

arXiv:2603.16868 · cs.CV, cs.AI, cs.RO · Submitted 2026-03-17 · Read on arXiv

cs.CV, cs.AI, cs.RO

Submitted: 2026-03-17

Updated: 2026-09-23

Code: https://github.com/mikedh/trimesh

Project page: https://messykitchens.github.io

Terminology

Benchmark — 23× in this paper · explained in 2 episodes
Multi-Object Decoder — 21× in this paper
Alignment — 19× in this paper · explained in 1 episode
Accuracy — 13× in this paper · explained in 1 episode
Fidelity — 9× in this paper · explained in 2 episodes
Transformer — 7× in this paper · explained in 2 episodes
Consistency — 6× in this paper · explained in 3 episodes
Chamfer Distance — 5× in this paper
Generalization — 5× in this paper · explained in 13 episodes
Ablation — 4× in this paper · explained in 1 episode
Diffusion Model — 3× in this paper · explained in 8 episodes
Diffusion Models — 3× in this paper · explained in 6 episodes
6D Object Pose Estimation — 2× in this paper · explained in 1 episode
Ablation Studies — 2× in this paper · explained in 1 episode
Core — 2× in this paper · explained in 2 episodes
Downstream Tasks — 2× in this paper · explained in 2 episodes
Grounding — 2× in this paper · explained in 3 episodes
Robustness — 2× in this paper · explained in 5 episodes
Affordance — 1× in this paper · explained in 1 episode
Benchmarking — 1× in this paper · explained in 3 episodes
Conference on Computer Vision and Pattern Recognition — 1× in this paper
Domain Shift — 1× in this paper · explained in 4 episodes
Fine-Tuning — 1× in this paper · explained in 5 episodes
Generative Model — 1× in this paper · explained in 2 episodes
Latent Diffusion Model — 1× in this paper · explained in 2 episodes
Latent Diffusion Models — 1× in this paper · explained in 2 episodes
Reinforcement Learning — 1× in this paper · explained in 4 episodes
World Model — 1× in this paper · explained in 7 episodes

MessyKitchens: Contact-rich object-level 3D scene reconstruction

Terminology

Sources

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