COGS: A Diagnostic Benchmark for Attribute-Aware Object-Level 3D Gaussian Splatting Perception

3D Gaussian Splatting (3DGS) is increasingly explored as an input representation for 3D perception. Yet it remains unclear how current 3D architectures exploit heterogeneous Gaussian attributes. This ambiguity makes accuracy hard to interpret and limits principled architecture design for 3DGS perception. However, existing object-level 3DGS datasets lack the appearance variation or artifact control needed for systematic attribute-level analysis. We introduce COGS, a large-scale 3DGS dataset with 15,675 artifact-filtered and appearance-rich objects across 40 categories. Built on COGS, we establish COGS-Bench for object classification and attribute-usage diagnosis, complemented by external validation. Our benchmark shows that Gaussian attributes are not uniformly beneficial: selected subsets can outperform the full attribute set, and the effects of appearance, opacity, and covariance-related attribute combinations vary substantially across architectures. We further study this finding with HALO, a reference model that preserves attribute-specific evidence before hierarchical aggregation. Experiments on COGS-Bench and external 3DGS datasets demonstrate that COGS supports systematic diagnosis of 3DGS attribute usage, while HALO highlights the value of role-preserving attribute organization. Our dataset is available at https://huggingface.co/datasets/XiaoZhengCV/COGS.

Authors

Publication Details

Journal
arXiv (Cornell University)
Published
2026-10-29
DOI
https://doi.org/10.48550/arxiv.2610.39201
Primary Topic
3D Shape Modeling and Analysis
Type
preprint
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preprint

COGS: A Diagnostic Benchmark for Attribute-Aware Object-Level 3D Gaussian Splatting Perception

Zhenjun Han, Weijian Deng, Jianbin Jiao, Jiashu Li et al.
arXiv (Cornell University)
3D Shape Modeling and Analysis
preprint

COGS: A Diagnostic Benchmark for Attribute-Aware Object-Level 3D Gaussian Splatting Perception

Zhenjun Han, Weijian Deng, Jianbin Jiao, Jiashu Li, Yifan Liu, Ziqin Liu, Zheng Xiao
preprint en

Abstract

3D Gaussian Splatting (3DGS) is increasingly explored as an input representation for 3D perception. Yet it remains unclear how current 3D architectures exploit heterogeneous Gaussian attributes. This ambiguity makes accuracy hard to interpret and limits principled architecture design for 3DGS perception. However, existing object-level 3DGS datasets lack the appearance variation or artifact control needed for systematic attribute-level analysis. We introduce COGS, a large-scale 3DGS dataset with 15,675 artifact-filtered and appearance-rich objects across 40 categories. Built on COGS, we establish COGS-Bench for object classification and attribute-usage diagnosis, complemented by external validation. Our benchmark shows that Gaussian attributes are not uniformly beneficial: selected subsets can outperform the full attribute set, and the effects of appearance, opacity, and covariance-related attribute combinations vary substantially across architectures. We further study this finding with HALO, a reference model that preserves attribute-specific evidence before hierarchical aggregation. Experiments on COGS-Bench and external 3DGS datasets demonstrate that COGS supports systematic diagnosis of 3DGS attribute usage, while HALO highlights the value of role-preserving attribute organization. Our dataset is available at https://huggingface.co/datasets/XiaoZhengCV/COGS.

arXiv (Cornell University)
3D Shape Modeling and Analysis
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COGS: A Diagnostic Benchmark for Attribute-Aware Object-Level 3D Gaussian Splatting Perception — Zhenjun Han, Weijian Deng, et al. · arXiv (Cornell University) (2026) | TGRS Research Map | TGRS