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Hydra (3D scene graphs)

  • Software
  • Navigation and mapping
  • Library

Hydra incrementally builds 3D scene graphs in real time, a layered map of a robot's surroundings from geometry to objects and rooms. It is research code tied to papers by MIT SPARK.

Made by MIT-SPARK, United States (checked on github.com/MIT-SPARK/Hydra/blob/HEAD/LICENSE (opens in a new tab)).

Source on GitHub: github.com/MIT-SPARK/Hydra (opens in a new tab). Facts read at commit 2e58a35 (opens in a new tab).

Licenses

Code
BSD-2-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-2-Clause) at commit 2e58a35 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Builds 3D scene graphs incrementally and in real time from a robot's sensor data.
  • Based on the authors' RSS 2022 paper and a 2024 IJRR paper on spatial perception.
  • Provides Python bindings around Hydra for use outside the core C++ system.
  • Includes an evaluation suite for measuring scene graph results.
  • Supports open-set semantics and separates semantic labels from colors, which the visualizer assigns.
  • Room category classification networks are available in a separate repository, Hydra-GNN.

Written by Robotheca from the project's README (opens in a new tab) at commit 2e58a35.

Getting started

Difficulty
Advanced

Maintenance

Status
Maintained: a commit in the last 12 months
Newest commit
14 Jan 2026 on main
Latest release
Hydra Version v1.0.0 (9 Jun 2023)

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.