OpenLex3D: A Tiered Benchmark for Open-Vocabulary 3D Scene Representations - Kassab, Christina; Morin, Sacha; Büchner, Martin; Mattamala, Matias; Gupta, Kumaraditya; Valada, Abhinav; Paull, Liam; Fallon, Maurice (Advances in Neural Information Processing Systems, 2025)