| --- |
| pretty_name: MAP-Bench |
| language: |
| - en |
| license: other |
| license_name: hm3d-derived-benchmark-terms |
| license_link: LICENSE.md |
| task_categories: |
| - robotics |
| size_categories: |
| - 10K<n<100K |
| viewer: false |
| tags: |
| - robotics |
| - navigation |
| - benchmark |
| - map-bench |
| - hm3d |
| --- |
| |
| <p align="center"> |
| <img src="assets/map.png" width="260" alt="MAP: Manipulation Anchor Pose" /> |
| </p> |
| <h1 align="center">MAP-Bench</h1> |
| <p align="center"> |
| <a href="https://arxiv.org/abs/2609.39388">Paper</a> · |
| <a href="https://fysics-ai.github.io/uniwam.github.io/">Project</a> · |
| <a href="https://github.com/Fysics-AI/UniWAM">GitHub</a> · |
| <a href="https://huggingface.co/Fysics-AI/UniWAM">Checkpoints</a> |
| </p> |
|
|
| **MAP-Bench** evaluates instruction-conditioned navigation to a **Manipulation Anchor Pose**: the base position and heading from which a robot can begin the intended manipulation. Built in HM3D, it uses one forward RGB view and three distance levels: Short, Medium, and Long. |
|
|
| - **35,454 training trajectories** with RGB observations, navigation actions, instructions, target boxes, and MAP annotations. |
| - **15,000 evaluation episodes** with scene references, start poses, target MAPs, and instructions. |
| - **75,000 evaluation rollouts** and their results: 15,000 each for GR00T N1.7, π₀.₅, FastWAM, UniWAM-Base, and UniWAM-Scaled. |
|
|
| ## Download |
|
|
| Run from your workspace directory to download the complete benchmark package (approximately **18.3 GB** before extraction): |
|
|
| ```bash |
| python -m pip install -U huggingface_hub |
| hf download Fysics-AI/MAP-Bench --repo-type dataset --local-dir ./MAP-Bench |
| ``` |
|
|
| Training videos and evaluation rollouts are stored in compressed archives. Use the [GitHub download helper](https://github.com/Fysics-AI/UniWAM/blob/main/scripts/download_assets.py) with `--training --traces` to verify and extract them. Obtain [HM3D scene assets](https://aihabitat.org/datasets/hm3d/) separately for simulator evaluation. |
|
|
| ## Usage |
|
|
| See GitHub for [benchmark setup and evaluation](https://github.com/Fysics-AI/UniWAM/blob/main/docs/EVALUATION.md), [navigation training](https://github.com/Fysics-AI/UniWAM/blob/main/training/NAVIGATION.md), and [results](https://github.com/Fysics-AI/UniWAM#map-bench-results). |
|
|
| HM3D-derived data are subject to the source dataset terms; see [LICENSE.md](LICENSE.md). |
|
|
