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LICENSE.md

@@ -0,0 +1,14 @@
+# MAP-Bench terms
+
+MAP-Bench contains navigation annotations, scene context metadata, and evaluation
+outputs associated with HM3D v0.2. Use of HM3D-derived information is subject to
+the source dataset's applicable access and use terms:
+
+- [HM3D dataset and access terms](https://aihabitat.org/datasets/hm3d/)
+- [Matterport terms for researchers](https://matterport.com/legal/matterport-end-user-license-agreement-academic-use-model-data)
+
+Users must obtain HM3D scene assets through the publisher. This package does not
+include scene meshes or grant additional redistribution rights to those assets.
+Please cite the UniWAM technical report and the HM3D dataset when using this
+benchmark. The code repository's Apache-2.0 license applies to code, not to
+HM3D source assets or restricted derivatives.

README.md

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+---
+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).

evaluation/scene_contexts/00016-qk9eeNeR4vw__obs_0006_view_02_yaw186_rgb__t01__ottoman.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00016-qk9eeNeR4vw__obs_0006_view_02_yaw186_rgb__t01__ottoman",
+  "nav_y": 0.08975833654403687,
+  "semantic_ids": [
+    164
+  ],
+  "trajectory": {
+    "scene_id": "00016-qk9eeNeR4vw/qk9eeNeR4vw.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00016-qk9eeNeR4vw/qk9eeNeR4vw.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00017-oEPjPNSPmzL__obs_0003_view_02_yaw090_rgb__t02__trash_can.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00017-oEPjPNSPmzL__obs_0003_view_02_yaw090_rgb__t02__trash_can",
+  "nav_y": 0.09178312867879868,
+  "semantic_ids": [
+    90
+  ],
+  "trajectory": {
+    "scene_id": "00017-oEPjPNSPmzL/oEPjPNSPmzL.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00017-oEPjPNSPmzL/oEPjPNSPmzL.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00022-gmuS7Wgsbrx__obs_0002_view_02_yaw180_rgb__t00__sofa.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00022-gmuS7Wgsbrx__obs_0002_view_02_yaw180_rgb__t00__sofa",
+  "nav_y": 0.07139864563941956,
+  "semantic_ids": [
+    320
+  ],
+  "trajectory": {
+    "scene_id": "00022-gmuS7Wgsbrx/gmuS7Wgsbrx.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00022-gmuS7Wgsbrx/gmuS7Wgsbrx.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00023-zepmXAdrpjR__obs_0030_view_02_yaw002_rgb__t00__dining_table.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00023-zepmXAdrpjR__obs_0030_view_02_yaw002_rgb__t00__dining_table",
+  "nav_y": -0.04521218314766884,
+  "semantic_ids": [
+    378
+  ],
+  "trajectory": {
+    "scene_id": "00023-zepmXAdrpjR/zepmXAdrpjR.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00023-zepmXAdrpjR/zepmXAdrpjR.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00108-oStKKWkQ1id__obs_0022_view_00_yaw225_rgb__t00__table.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00108-oStKKWkQ1id__obs_0022_view_00_yaw225_rgb__t00__table",
+  "nav_y": 0.039113134145736694,
+  "semantic_ids": [
+    234
+  ],
+  "trajectory": {
+    "scene_id": "00108-oStKKWkQ1id/oStKKWkQ1id.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00108-oStKKWkQ1id/oStKKWkQ1id.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00135-HeSYRw7eMtG__obs_0007_view_03_yaw039_rgb__t00__sofa.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00135-HeSYRw7eMtG__obs_0007_view_03_yaw039_rgb__t00__sofa",
+  "nav_y": -0.0009930133819580078,
+  "semantic_ids": [
+    485
+  ],
+  "trajectory": {
+    "scene_id": "00135-HeSYRw7eMtG/HeSYRw7eMtG.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00135-HeSYRw7eMtG/HeSYRw7eMtG.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00149-UuwwmrTsfBN__obs_0027_view_01_yaw319_rgb__t01__shelf.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00149-UuwwmrTsfBN__obs_0027_view_01_yaw319_rgb__t01__shelf",
+  "nav_y": -2.8484466075897217,
+  "semantic_ids": [
+    1028
+  ],
+  "trajectory": {
+    "scene_id": "00149-UuwwmrTsfBN/UuwwmrTsfBN.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00149-UuwwmrTsfBN/UuwwmrTsfBN.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00155-iLDo95ZbDJq__obs_0040_view_03_yaw123_rgb__t00__nightstand.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00155-iLDo95ZbDJq__obs_0040_view_03_yaw123_rgb__t00__nightstand",
+  "nav_y": 0.11437656730413437,
+  "semantic_ids": [
+    39
+  ],
+  "trajectory": {
+    "scene_id": "00155-iLDo95ZbDJq/iLDo95ZbDJq.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00155-iLDo95ZbDJq/iLDo95ZbDJq.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00222-g8Xrdbe9fir__obs_0002_view_00_yaw232_rgb__t00__sofa.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00222-g8Xrdbe9fir__obs_0002_view_00_yaw232_rgb__t00__sofa",
+  "nav_y": 0.16506898403167725,
+  "semantic_ids": [
+    120
+  ],
+  "trajectory": {
+    "scene_id": "00222-g8Xrdbe9fir/g8Xrdbe9fir.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00222-g8Xrdbe9fir/g8Xrdbe9fir.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00238-j6fHrce9pHR__obs_0040_view_01_yaw254_rgb__t00__cabinet.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00238-j6fHrce9pHR__obs_0040_view_01_yaw254_rgb__t00__cabinet",
+  "nav_y": 0.0835769772529602,
+  "semantic_ids": [
+    333
+  ],
+  "trajectory": {
+    "scene_id": "00238-j6fHrce9pHR/j6fHrce9pHR.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00238-j6fHrce9pHR/j6fHrce9pHR.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00238-j6fHrce9pHR__obs_0043_view_00_yaw083_rgb__t01__tool_chest.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00238-j6fHrce9pHR__obs_0043_view_00_yaw083_rgb__t01__tool_chest",
+  "nav_y": 0.0835769772529602,
+  "semantic_ids": [
+    391
+  ],
+  "trajectory": {
+    "scene_id": "00238-j6fHrce9pHR/j6fHrce9pHR.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00238-j6fHrce9pHR/j6fHrce9pHR.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00238-j6fHrce9pHR__obs_0050_view_02_yaw117_rgb__t01__armchair.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00238-j6fHrce9pHR__obs_0050_view_02_yaw117_rgb__t01__armchair",
+  "nav_y": 0.0835769772529602,
+  "semantic_ids": [
+    324
+  ],
+  "trajectory": {
+    "scene_id": "00238-j6fHrce9pHR/j6fHrce9pHR.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00238-j6fHrce9pHR/j6fHrce9pHR.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00251-wsAYBFtQaL7__obs_0048_view_03_yaw084_rgb__t00__cabinet.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00251-wsAYBFtQaL7__obs_0048_view_03_yaw084_rgb__t00__cabinet",
+  "nav_y": 0.12947671115398407,
+  "semantic_ids": [
+    304
+  ],
+  "trajectory": {
+    "scene_id": "00251-wsAYBFtQaL7/wsAYBFtQaL7.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00251-wsAYBFtQaL7/wsAYBFtQaL7.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00294-PPTLa8SkUfo__obs_0023_view_02_yaw084_rgb__t00__refrigerator.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00294-PPTLa8SkUfo__obs_0023_view_02_yaw084_rgb__t00__refrigerator",
+  "nav_y": 0.06522542238235474,
+  "semantic_ids": [
+    451
+  ],
+  "trajectory": {
+    "scene_id": "00294-PPTLa8SkUfo/PPTLa8SkUfo.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00294-PPTLa8SkUfo/PPTLa8SkUfo.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00299-bdp1XNEdvmW__obs_0011_view_01_yaw090_rgb__t00__refrigerator.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00299-bdp1XNEdvmW__obs_0011_view_01_yaw090_rgb__t00__refrigerator",
+  "nav_y": 0.010181665420532227,
+  "semantic_ids": [
+    158
+  ],
+  "trajectory": {
+    "scene_id": "00299-bdp1XNEdvmW/bdp1XNEdvmW.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00299-bdp1XNEdvmW/bdp1XNEdvmW.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00299-bdp1XNEdvmW__obs_0011_view_01_yaw090_rgb__t01__stove.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00299-bdp1XNEdvmW__obs_0011_view_01_yaw090_rgb__t01__stove",
+  "nav_y": 0.010181665420532227,
+  "semantic_ids": [
+    159
+  ],
+  "trajectory": {
+    "scene_id": "00299-bdp1XNEdvmW/bdp1XNEdvmW.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00299-bdp1XNEdvmW/bdp1XNEdvmW.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00327-xgLmjqzoAzF__obs_0038_view_02_yaw180_rgb__t00__cabinet.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00327-xgLmjqzoAzF__obs_0038_view_02_yaw180_rgb__t00__cabinet",
+  "nav_y": 0.1556105613708496,
+  "semantic_ids": [
+    309
+  ],
+  "trajectory": {
+    "scene_id": "00327-xgLmjqzoAzF/xgLmjqzoAzF.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00327-xgLmjqzoAzF/xgLmjqzoAzF.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00382-S7uMvxjBVZq__obs_0014_view_01_yaw090_rgb__t01__microwave.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00382-S7uMvxjBVZq__obs_0014_view_01_yaw090_rgb__t01__microwave",
+  "nav_y": 0.06446343660354614,
+  "semantic_ids": [
+    270
+  ],
+  "trajectory": {
+    "scene_id": "00382-S7uMvxjBVZq/S7uMvxjBVZq.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00382-S7uMvxjBVZq/S7uMvxjBVZq.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00388-pcpn6mFqFCg__obs_0013_view_03_yaw238_rgb__t01__microwave.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00388-pcpn6mFqFCg__obs_0013_view_03_yaw238_rgb__t01__microwave",
+  "nav_y": -2.045738458633423,
+  "semantic_ids": [
+    514
+  ],
+  "trajectory": {
+    "scene_id": "00388-pcpn6mFqFCg/pcpn6mFqFCg.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00388-pcpn6mFqFCg/pcpn6mFqFCg.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00434-L5QEsaVqwrY__obs_0004_view_02_yaw286_rgb__t00__television.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00434-L5QEsaVqwrY__obs_0004_view_02_yaw286_rgb__t00__television",
+  "nav_y": 0.05638301372528076,
+  "semantic_ids": [
+    297
+  ],
+  "trajectory": {
+    "scene_id": "00434-L5QEsaVqwrY/L5QEsaVqwrY.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00434-L5QEsaVqwrY/L5QEsaVqwrY.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00434-L5QEsaVqwrY__obs_0015_view_03_yaw123_rgb__t00__planter.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00434-L5QEsaVqwrY__obs_0015_view_03_yaw123_rgb__t00__planter",
+  "nav_y": 0.05638301372528076,
+  "semantic_ids": [
+    891
+  ],
+  "trajectory": {
+    "scene_id": "00434-L5QEsaVqwrY/L5QEsaVqwrY.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00434-L5QEsaVqwrY/L5QEsaVqwrY.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00434-L5QEsaVqwrY__obs_0038_view_02_yaw249_rgb__t01__vase.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00434-L5QEsaVqwrY__obs_0038_view_02_yaw249_rgb__t01__vase",
+  "nav_y": 0.05638301372528076,
+  "semantic_ids": [
+    548
+  ],
+  "trajectory": {
+    "scene_id": "00434-L5QEsaVqwrY/L5QEsaVqwrY.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00434-L5QEsaVqwrY/L5QEsaVqwrY.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00466-xAHnY3QzFUN__obs_0025_view_00_yaw005_rgb__t00__door.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00466-xAHnY3QzFUN__obs_0025_view_00_yaw005_rgb__t00__door",
+  "nav_y": 0.05698297917842865,
+  "semantic_ids": [
+    34
+  ],
+  "trajectory": {
+    "scene_id": "00466-xAHnY3QzFUN/xAHnY3QzFUN.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00466-xAHnY3QzFUN/xAHnY3QzFUN.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00487-erXNfWVjqZ8__obs_0000_view_00_yaw105_rgb__t00__storage_bin.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00487-erXNfWVjqZ8__obs_0000_view_00_yaw105_rgb__t00__storage_bin",
+  "nav_y": -2.4917964935302734,
+  "semantic_ids": [
+    41
+  ],
+  "trajectory": {
+    "scene_id": "00487-erXNfWVjqZ8/erXNfWVjqZ8.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00487-erXNfWVjqZ8/erXNfWVjqZ8.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00539-zUG6FL9TYeR__obs_0023_view_03_yaw074_rgb__t00__door.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00539-zUG6FL9TYeR__obs_0023_view_03_yaw074_rgb__t00__door",
+  "nav_y": 2.717231035232544,
+  "semantic_ids": [
+    299
+  ],
+  "trajectory": {
+    "scene_id": "00539-zUG6FL9TYeR/zUG6FL9TYeR.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00539-zUG6FL9TYeR/zUG6FL9TYeR.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00560-gjhYih4upQ9__obs_0002_view_00_yaw285_rgb__t00__stove.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00560-gjhYih4upQ9__obs_0002_view_00_yaw285_rgb__t00__stove",
+  "nav_y": -2.3712596893310547,
+  "semantic_ids": [
+    184
+  ],
+  "trajectory": {
+    "scene_id": "00560-gjhYih4upQ9/gjhYih4upQ9.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00560-gjhYih4upQ9/gjhYih4upQ9.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00591-JptJPosx1Z6__obs_0009_view_00_yaw000_rgb__t01__sofa.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00591-JptJPosx1Z6__obs_0009_view_00_yaw000_rgb__t01__sofa",
+  "nav_y": 0.16929110884666443,
+  "semantic_ids": [
+    393
+  ],
+  "trajectory": {
+    "scene_id": "00591-JptJPosx1Z6/JptJPosx1Z6.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00591-JptJPosx1Z6/JptJPosx1Z6.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00591-JptJPosx1Z6__obs_0102_view_01_yaw225_rgb__t00__chair.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00591-JptJPosx1Z6__obs_0102_view_01_yaw225_rgb__t00__chair",
+  "nav_y": 0.16929110884666443,
+  "semantic_ids": [
+    123
+  ],
+  "trajectory": {
+    "scene_id": "00591-JptJPosx1Z6/JptJPosx1Z6.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00591-JptJPosx1Z6/JptJPosx1Z6.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00606-W16Bm4ysK8v__obs_0036_view_02_yaw135_rgb__t00__door.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00606-W16Bm4ysK8v__obs_0036_view_02_yaw135_rgb__t00__door",
+  "nav_y": 0.06442362070083618,
+  "semantic_ids": [
+    576
+  ],
+  "trajectory": {
+    "scene_id": "00606-W16Bm4ysK8v/W16Bm4ysK8v.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00606-W16Bm4ysK8v/W16Bm4ysK8v.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00606-W16Bm4ysK8v__obs_0037_view_03_yaw225_rgb__t00__cabinet.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00606-W16Bm4ysK8v__obs_0037_view_03_yaw225_rgb__t00__cabinet",
+  "nav_y": 0.06442362070083618,
+  "semantic_ids": [
+    579
+  ],
+  "trajectory": {
+    "scene_id": "00606-W16Bm4ysK8v/W16Bm4ysK8v.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00606-W16Bm4ysK8v/W16Bm4ysK8v.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00612-GsQBY83r3hb__obs_0006_view_00_yaw104_rgb__t00__wardrobe.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00612-GsQBY83r3hb__obs_0006_view_00_yaw104_rgb__t00__wardrobe",
+  "nav_y": 0.13590310513973236,
+  "semantic_ids": [
+    182
+  ],
+  "trajectory": {
+    "scene_id": "00612-GsQBY83r3hb/GsQBY83r3hb.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00612-GsQBY83r3hb/GsQBY83r3hb.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00626-XiJhRLvpKpX__obs_0019_view_02_yaw166_rgb__t00__door.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00626-XiJhRLvpKpX__obs_0019_view_02_yaw166_rgb__t00__door",
+  "nav_y": -2.760446548461914,
+  "semantic_ids": [
+    842
+  ],
+  "trajectory": {
+    "scene_id": "00626-XiJhRLvpKpX/XiJhRLvpKpX.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00626-XiJhRLvpKpX/XiJhRLvpKpX.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00657-TSJmdttd2GV__obs_0024_view_03_yaw173_rgb__t00__refrigerator.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00657-TSJmdttd2GV__obs_0024_view_03_yaw173_rgb__t00__refrigerator",
+  "nav_y": 0.19017046689987183,
+  "semantic_ids": [
+    723
+  ],
+  "trajectory": {
+    "scene_id": "00657-TSJmdttd2GV/TSJmdttd2GV.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00657-TSJmdttd2GV/TSJmdttd2GV.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00662-aRKASs4e8j1__obs_0015_view_00_yaw270_rgb__t00__trash_can.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00662-aRKASs4e8j1__obs_0015_view_00_yaw270_rgb__t00__trash_can",
+  "nav_y": 0.035667672753334045,
+  "semantic_ids": [
+    30
+  ],
+  "trajectory": {
+    "scene_id": "00662-aRKASs4e8j1/aRKASs4e8j1.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00662-aRKASs4e8j1/aRKASs4e8j1.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00741-w8GiikYuFRk__obs_0009_view_02_yaw109_rgb__t00__table.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00741-w8GiikYuFRk__obs_0009_view_02_yaw109_rgb__t00__table",
+  "nav_y": 0.180937722325325,
+  "semantic_ids": [
+    173
+  ],
+  "trajectory": {
+    "scene_id": "00741-w8GiikYuFRk/w8GiikYuFRk.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00741-w8GiikYuFRk/w8GiikYuFRk.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00746-RTV2n6fXB2w__obs_0017_view_00_yaw235_rgb__t00__dresser.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00746-RTV2n6fXB2w__obs_0017_view_00_yaw235_rgb__t00__dresser",
+  "nav_y": 0.09139084070920944,
+  "semantic_ids": [
+    12
+  ],
+  "trajectory": {
+    "scene_id": "00746-RTV2n6fXB2w/RTV2n6fXB2w.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00746-RTV2n6fXB2w/RTV2n6fXB2w.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00800-TEEsavR23oF__obs_0005_view_00_yaw090_rgb__t00__sofa.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00800-TEEsavR23oF__obs_0005_view_00_yaw090_rgb__t00__sofa",
+  "nav_y": 0.23173785209655762,
+  "semantic_ids": [
+    264
+  ],
+  "trajectory": {
+    "scene_id": "00800-TEEsavR23oF/TEEsavR23oF.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00800-TEEsavR23oF/TEEsavR23oF.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00815-h1zeeAwLh9Z__obs_0006_view_03_yaw087_rgb__t00__stove.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00815-h1zeeAwLh9Z__obs_0006_view_03_yaw087_rgb__t00__stove",
+  "nav_y": 0.04902343451976776,
+  "semantic_ids": [
+    218
+  ],
+  "trajectory": {
+    "scene_id": "00815-h1zeeAwLh9Z/h1zeeAwLh9Z.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00815-h1zeeAwLh9Z/h1zeeAwLh9Z.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00815-h1zeeAwLh9Z__obs_0026_view_02_yaw192_rgb__t00__armchair.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00815-h1zeeAwLh9Z__obs_0026_view_02_yaw192_rgb__t00__armchair",
+  "nav_y": 0.04902343451976776,
+  "semantic_ids": [
+    150
+  ],
+  "trajectory": {
+    "scene_id": "00815-h1zeeAwLh9Z/h1zeeAwLh9Z.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00815-h1zeeAwLh9Z/h1zeeAwLh9Z.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00832-qyAac8rV8Zk__obs_0006_view_03_yaw352_rgb__t01__stool.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00832-qyAac8rV8Zk__obs_0006_view_03_yaw352_rgb__t01__stool",
+  "nav_y": 0.01920294761657715,
+  "semantic_ids": [
+    293
+  ],
+  "trajectory": {
+    "scene_id": "00832-qyAac8rV8Zk/qyAac8rV8Zk.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00832-qyAac8rV8Zk/qyAac8rV8Zk.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00844-q5QZSEeHe5g__obs_0028_view_03_yaw198_rgb__t01__heater.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00844-q5QZSEeHe5g__obs_0028_view_03_yaw198_rgb__t01__heater",
+  "nav_y": 0.23623377084732056,
+  "semantic_ids": [
+    716
+  ],
+  "trajectory": {
+    "scene_id": "00844-q5QZSEeHe5g/q5QZSEeHe5g.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00844-q5QZSEeHe5g/q5QZSEeHe5g.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00862-LT9Jq6dN3Ea__obs_0020_view_02_yaw351_rgb__t01__console_table.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00862-LT9Jq6dN3Ea__obs_0020_view_02_yaw351_rgb__t01__console_table",
+  "nav_y": -3.0939717292785645,
+  "semantic_ids": [
+    42
+  ],
+  "trajectory": {
+    "scene_id": "00862-LT9Jq6dN3Ea/LT9Jq6dN3Ea.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00862-LT9Jq6dN3Ea/LT9Jq6dN3Ea.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00862-LT9Jq6dN3Ea__obs_0049_view_03_yaw230_rgb__t00__vase.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00862-LT9Jq6dN3Ea__obs_0049_view_03_yaw230_rgb__t00__vase",
+  "nav_y": 0.10602831840515137,
+  "semantic_ids": [
+    434
+  ],
+  "trajectory": {
+    "scene_id": "00862-LT9Jq6dN3Ea/LT9Jq6dN3Ea.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00862-LT9Jq6dN3Ea/LT9Jq6dN3Ea.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00871-VBzV5z6i1WS__obs_0044_view_01_yaw140_rgb__t00__piano.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00871-VBzV5z6i1WS__obs_0044_view_01_yaw140_rgb__t00__piano",
+  "nav_y": 0.046541884541511536,
+  "semantic_ids": [
+    285
+  ],
+  "trajectory": {
+    "scene_id": "00871-VBzV5z6i1WS/VBzV5z6i1WS.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00871-VBzV5z6i1WS/VBzV5z6i1WS.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00891-cvZr5TUy5C5__obs_0017_view_00_yaw270_rgb__t01__guitar.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00891-cvZr5TUy5C5__obs_0017_view_00_yaw270_rgb__t01__guitar",
+  "nav_y": -2.8625967502593994,
+  "semantic_ids": [
+    701
+  ],
+  "trajectory": {
+    "scene_id": "00891-cvZr5TUy5C5/cvZr5TUy5C5.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00891-cvZr5TUy5C5/cvZr5TUy5C5.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_requirements.json

@@ -0,0 +1,118 @@
+{
+  "dataset": "HM3D v0.2 annotated basis",
+  "not_redistributed": true,
+  "reason": "HM3D assets retain their upstream license and must be obtained separately.",
+  "scene_count": 109,
+  "scene_ids": [
+    "00016-qk9eeNeR4vw",
+    "00017-oEPjPNSPmzL",
+    "00022-gmuS7Wgsbrx",
+    "00023-zepmXAdrpjR",
+    "00031-Wo6kuutE9i7",
+    "00034-6imZUJGRUq4",
+    "00035-3XYAD64HpDr",
+    "00043-Jfyvj3xn2aJ",
+    "00064-gQgtJ9Stk5s",
+    "00108-oStKKWkQ1id",
+    "00109-GTV2Y73Sn5t",
+    "00135-HeSYRw7eMtG",
+    "00141-iigzG1rtanx",
+    "00149-UuwwmrTsfBN",
+    "00150-LcAd9dhvVwh",
+    "00155-iLDo95ZbDJq",
+    "00164-XfUxBGTFQQb",
+    "00166-RaYrxWt5pR1",
+    "00172-bB6nKqfsb1z",
+    "00173-qZ4B7U6XE5Y",
+    "00205-NEVASPhcrxR",
+    "00217-qz3829g1Lzf",
+    "00222-g8Xrdbe9fir",
+    "00234-nACV8wLu1u5",
+    "00238-j6fHrce9pHR",
+    "00245-741Fdj7NLF9",
+    "00251-wsAYBFtQaL7",
+    "00254-YMNvYDhK8mB",
+    "00255-NGyoyh91xXJ",
+    "00256-92vYG1q49FY",
+    "00258-2Pc8W48bu21",
+    "00272-kA2nG18hCAr",
+    "00294-PPTLa8SkUfo",
+    "00299-bdp1XNEdvmW",
+    "00304-X6Pct1msZv5",
+    "00307-vDfkYo5VqEQ",
+    "00324-DoSbsoo4EAg",
+    "00327-xgLmjqzoAzF",
+    "00330-WhNyDTnd9g5",
+    "00366-fxbzYAGkrtm",
+    "00378-DqJKU7YU7dA",
+    "00382-S7uMvxjBVZq",
+    "00388-pcpn6mFqFCg",
+    "00404-QN2dRqwd84J",
+    "00407-NPHxDe6VeCc",
+    "00410-v7DzfFFEpsD",
+    "00414-77mMEyxhs44",
+    "00417-nGhNxKrgBPb",
+    "00434-L5QEsaVqwrY",
+    "00440-wPLokgvCnuk",
+    "00444-sX9xad6ULKc",
+    "00463-URjpCob8MGw",
+    "00466-xAHnY3QzFUN",
+    "00475-g7hUFVNac26",
+    "00487-erXNfWVjqZ8",
+    "00495-CQWES1bawee",
+    "00508-4vwGX7U38Ux",
+    "00534-DBBESbk4Y3k",
+    "00539-zUG6FL9TYeR",
+    "00557-fRZhp6vWGw7",
+    "00560-gjhYih4upQ9",
+    "00567-KjZrPggnHm8",
+    "00582-TYDavTf8oyy",
+    "00591-JptJPosx1Z6",
+    "00598-mt9H8KcxRKD",
+    "00606-W16Bm4ysK8v",
+    "00612-GsQBY83r3hb",
+    "00624-ooq3SnvC79d",
+    "00626-XiJhRLvpKpX",
+    "00657-TSJmdttd2GV",
+    "00662-aRKASs4e8j1",
+    "00664-u5atqC7vRCY",
+    "00669-DNWbUAJYsPy",
+    "00680-YmWinf3mhb5",
+    "00685-ENiCjXWB6aQ",
+    "00696-DsEJeNPcZtE",
+    "00706-YHmAkqgwe2p",
+    "00707-XVSZJAtHKdi",
+    "00720-8B43pG641ff",
+    "00723-hWDDQnSDMXb",
+    "00738-GPyDUnjwZQy",
+    "00741-w8GiikYuFRk",
+    "00744-1S7LAXRdDqK",
+    "00745-yX5efd48dLf",
+    "00746-RTV2n6fXB2w",
+    "00750-E1NrAhMoqvB",
+    "00757-LVgQNuK8vtv",
+    "00758-HfMobPm86Xn",
+    "00800-TEEsavR23oF",
+    "00802-wcojb4TFT35",
+    "00808-y9hTuugGdiq",
+    "00813-svBbv1Pavdk",
+    "00814-p53SfW6mjZe",
+    "00815-h1zeeAwLh9Z",
+    "00821-eF36g7L6Z9M",
+    "00823-7MXmsvcQjpJ",
+    "00824-Dd4bFSTQ8gi",
+    "00827-BAbdmeyTvMZ",
+    "00831-yr17PDCnDDW",
+    "00832-qyAac8rV8Zk",
+    "00844-q5QZSEeHe5g",
+    "00849-a8BtkwhxdRV",
+    "00853-5cdEh9F2hJL",
+    "00862-LT9Jq6dN3Ea",
+    "00871-VBzV5z6i1WS",
+    "00876-mv2HUxq3B53",
+    "00877-4ok3usBNeis",
+    "00891-cvZr5TUy5C5",
+    "00894-HY1NcmCgn3n"
+  ],
+  "environment_variable": "HM3D_SCENE_ROOT"
+}

results/summary.csv

@@ -0,0 +1,21 @@
+method_id,distance_bin,n,mean_position_error_cm,mean_heading_error_deg
+groot_n17,short_<1.5m,2110,9.475644942509867,5.657915779225286
+groot_n17,medium_1.5-3.5m,10014,10.805555086628981,5.420654103572483
+groot_n17,long_>=3.5m,2876,22.036195914790902,7.456634791294764
+groot_n17,overall_macro_three_bins,15000,14.105798647976583,6.178401558030845
+pi05,short_<1.5m,2110,7.97657593601423,3.259084657175522
+pi05,medium_1.5-3.5m,10014,9.84806524608572,3.5123328843671993
+pi05,long_>=3.5m,2876,50.84365540602139,5.5523276724245
+pi05,overall_macro_three_bins,15000,22.889432196040445,4.107915071322407
+fastwam,short_<1.5m,2110,9.24344827939637,3.436162770885605
+fastwam,medium_1.5-3.5m,10014,10.955500883129465,3.9483212519668256
+fastwam,long_>=3.5m,2876,31.100384790036,6.656711571282804
+fastwam,overall_macro_three_bins,15000,17.099777984187277,4.680398531378412
+uniwam_base,short_<1.5m,2110,7.70706613369339,2.3705323430284695
+uniwam_base,medium_1.5-3.5m,10014,8.851689436903877,3.0579491256149427
+uniwam_base,long_>=3.5m,2876,20.97225766796763,4.290350672098184
+uniwam_base,overall_macro_three_bins,15000,12.510337746188299,3.2396107135805323
+uniwam_scaled,short_<1.5m,2110,7.476681254603304,1.8182887134398644
+uniwam_scaled,medium_1.5-3.5m,10014,7.856720186841248,2.0789273082137147
+uniwam_scaled,long_>=3.5m,2876,14.241092997827042,3.0083298730059194
+uniwam_scaled,overall_macro_three_bins,15000,9.858164813090532,2.3018486315531663