Add files using upload-large-folder tool

.gitattributes

@@ -58,3 +58,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+results/trajectory_metrics.csv filter=lfs diff=lfs merge=lfs -text
+evaluation/benchmark_15k.json filter=lfs diff=lfs merge=lfs -text

evaluation/benchmark_15k.json

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abcf8053c6292e3bcec355d6bb51c1019a862c4edcd526f935e845fd2c72c2ae
+size 20191523

evaluation/scene_contexts/00022-gmuS7Wgsbrx__obs_0040_view_00_yaw000_rgb__t00__sofa.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00022-gmuS7Wgsbrx__obs_0040_view_00_yaw000_rgb__t00__sofa",
+  "nav_y": 0.07139864563941956,
+  "semantic_ids": [
+    376
+  ],
+  "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/00022-gmuS7Wgsbrx__obs_0049_view_00_yaw180_rgb__t00__door.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00022-gmuS7Wgsbrx__obs_0049_view_00_yaw180_rgb__t00__door",
+  "nav_y": 0.07139864563941956,
+  "semantic_ids": [
+    353
+  ],
+  "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_0042_view_02_yaw261_rgb__t02__stove.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00023-zepmXAdrpjR__obs_0042_view_02_yaw261_rgb__t02__stove",
+  "nav_y": -0.04521218314766884,
+  "semantic_ids": [
+    251
+  ],
+  "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/00031-Wo6kuutE9i7__obs_0018_view_03_yaw083_rgb__t01__coffee_table.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00031-Wo6kuutE9i7__obs_0018_view_03_yaw083_rgb__t01__coffee_table",
+  "nav_y": -0.023640573024749756,
+  "semantic_ids": [
+    212
+  ],
+  "trajectory": {
+    "scene_id": "00031-Wo6kuutE9i7/Wo6kuutE9i7.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00031-Wo6kuutE9i7/Wo6kuutE9i7.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00031-Wo6kuutE9i7__obs_0027_view_03_yaw001_rgb__t00__table.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00031-Wo6kuutE9i7__obs_0027_view_03_yaw001_rgb__t00__table",
+  "nav_y": -0.023640573024749756,
+  "semantic_ids": [
+    212
+  ],
+  "trajectory": {
+    "scene_id": "00031-Wo6kuutE9i7/Wo6kuutE9i7.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00031-Wo6kuutE9i7/Wo6kuutE9i7.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00108-oStKKWkQ1id__obs_0038_view_03_yaw270_rgb__t01__table.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00108-oStKKWkQ1id__obs_0038_view_03_yaw270_rgb__t01__table",
+  "nav_y": 0.039113134145736694,
+  "semantic_ids": [
+    335
+  ],
+  "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/00109-GTV2Y73Sn5t__obs_0018_view_03_yaw011_rgb__t01__plant.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00109-GTV2Y73Sn5t__obs_0018_view_03_yaw011_rgb__t01__plant",
+  "nav_y": -2.7005503177642822,
+  "semantic_ids": [
+    642
+  ],
+  "trajectory": {
+    "scene_id": "00109-GTV2Y73Sn5t/GTV2Y73Sn5t.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00109-GTV2Y73Sn5t/GTV2Y73Sn5t.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00141-iigzG1rtanx__obs_0000_view_00_yaw093_rgb__t00__water_heater.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00141-iigzG1rtanx__obs_0000_view_00_yaw093_rgb__t00__water_heater",
+  "nav_y": -4.1547698974609375,
+  "semantic_ids": [
+    634
+  ],
+  "trajectory": {
+    "scene_id": "00141-iigzG1rtanx/iigzG1rtanx.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00141-iigzG1rtanx/iigzG1rtanx.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00149-UuwwmrTsfBN__obs_0002_view_01_yaw088_rgb__t01__bookshelf.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00149-UuwwmrTsfBN__obs_0002_view_01_yaw088_rgb__t01__bookshelf",
+  "nav_y": -2.8484466075897217,
+  "semantic_ids": [
+    1065
+  ],
+  "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/00149-UuwwmrTsfBN__obs_0003_view_03_yaw268_rgb__t00__cardboard_box.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00149-UuwwmrTsfBN__obs_0003_view_03_yaw268_rgb__t00__cardboard_box",
+  "nav_y": -2.8484466075897217,
+  "semantic_ids": [
+    998
+  ],
+  "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/00149-UuwwmrTsfBN__obs_0005_view_03_yaw008_rgb__t01__fan.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00149-UuwwmrTsfBN__obs_0005_view_03_yaw008_rgb__t01__fan",
+  "nav_y": -2.8484466075897217,
+  "semantic_ids": [
+    1045
+  ],
+  "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/00150-LcAd9dhvVwh__obs_0010_view_02_yaw014_rgb__t00__chair.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00150-LcAd9dhvVwh__obs_0010_view_02_yaw014_rgb__t00__chair",
+  "nav_y": -2.550366163253784,
+  "semantic_ids": [
+    608
+  ],
+  "trajectory": {
+    "scene_id": "00150-LcAd9dhvVwh/LcAd9dhvVwh.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00150-LcAd9dhvVwh/LcAd9dhvVwh.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00150-LcAd9dhvVwh__obs_0020_view_02_yaw337_rgb__t00__nightstand.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00150-LcAd9dhvVwh__obs_0020_view_02_yaw337_rgb__t00__nightstand",
+  "nav_y": -2.550366163253784,
+  "semantic_ids": [
+    647
+  ],
+  "trajectory": {
+    "scene_id": "00150-LcAd9dhvVwh/LcAd9dhvVwh.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00150-LcAd9dhvVwh/LcAd9dhvVwh.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00166-RaYrxWt5pR1__obs_0004_view_02_yaw022_rgb__t00__kitchen_island.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00166-RaYrxWt5pR1__obs_0004_view_02_yaw022_rgb__t00__kitchen_island",
+  "nav_y": 0.14043426513671875,
+  "semantic_ids": [
+    54
+  ],
+  "trajectory": {
+    "scene_id": "00166-RaYrxWt5pR1/RaYrxWt5pR1.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00166-RaYrxWt5pR1/RaYrxWt5pR1.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00205-NEVASPhcrxR__obs_0004_view_02_yaw081_rgb__t00__bed.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00205-NEVASPhcrxR__obs_0004_view_02_yaw081_rgb__t00__bed",
+  "nav_y": -0.0004429817199707031,
+  "semantic_ids": [
+    760
+  ],
+  "trajectory": {
+    "scene_id": "00205-NEVASPhcrxR/NEVASPhcrxR.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00205-NEVASPhcrxR/NEVASPhcrxR.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00222-g8Xrdbe9fir__obs_0020_view_02_yaw069_rgb__t00__microwave.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00222-g8Xrdbe9fir__obs_0020_view_02_yaw069_rgb__t00__microwave",
+  "nav_y": 0.16506898403167725,
+  "semantic_ids": [
+    126
+  ],
+  "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_0047_view_02_yaw135_rgb__t00__toolbox.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00238-j6fHrce9pHR__obs_0047_view_02_yaw135_rgb__t00__toolbox",
+  "nav_y": 0.0835769772529602,
+  "semantic_ids": [
+    390
+  ],
+  "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_0049_view_00_yaw263_rgb__t00__armchair.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00238-j6fHrce9pHR__obs_0049_view_00_yaw263_rgb__t00__armchair",
+  "nav_y": 0.0835769772529602,
+  "semantic_ids": [
+    325
+  ],
+  "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/00245-741Fdj7NLF9__obs_0001_view_01_yaw173_rgb__t00__door.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00245-741Fdj7NLF9__obs_0001_view_01_yaw173_rgb__t00__door",
+  "nav_y": 0.042263999581336975,
+  "semantic_ids": [
+    70
+  ],
+  "trajectory": {
+    "scene_id": "00245-741Fdj7NLF9/741Fdj7NLF9.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00245-741Fdj7NLF9/741Fdj7NLF9.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00254-YMNvYDhK8mB__obs_0042_view_03_yaw187_rgb__t01__pedestal.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00254-YMNvYDhK8mB__obs_0042_view_03_yaw187_rgb__t01__pedestal",
+  "nav_y": 0.13135623931884766,
+  "semantic_ids": [
+    18
+  ],
+  "trajectory": {
+    "scene_id": "00254-YMNvYDhK8mB/YMNvYDhK8mB.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00254-YMNvYDhK8mB/YMNvYDhK8mB.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00256-92vYG1q49FY__obs_0078_view_01_yaw093_rgb__t00__nightstand.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00256-92vYG1q49FY__obs_0078_view_01_yaw093_rgb__t00__nightstand",
+  "nav_y": 0.36334896087646484,
+  "semantic_ids": [
+    381
+  ],
+  "trajectory": {
+    "scene_id": "00256-92vYG1q49FY/92vYG1q49FY.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00256-92vYG1q49FY/92vYG1q49FY.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00272-kA2nG18hCAr__obs_0053_view_03_yaw006_rgb__t00__dresser.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00272-kA2nG18hCAr__obs_0053_view_03_yaw006_rgb__t00__dresser",
+  "nav_y": 0.18276762962341309,
+  "semantic_ids": [
+    16
+  ],
+  "trajectory": {
+    "scene_id": "00272-kA2nG18hCAr/kA2nG18hCAr.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00272-kA2nG18hCAr/kA2nG18hCAr.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00272-kA2nG18hCAr__obs_0067_view_01_yaw012_rgb__t01__armchair.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00272-kA2nG18hCAr__obs_0067_view_01_yaw012_rgb__t01__armchair",
+  "nav_y": 0.18276762962341309,
+  "semantic_ids": [
+    684
+  ],
+  "trajectory": {
+    "scene_id": "00272-kA2nG18hCAr/kA2nG18hCAr.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00272-kA2nG18hCAr/kA2nG18hCAr.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00294-PPTLa8SkUfo__obs_0013_view_02_yaw058_rgb__t00__door.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00294-PPTLa8SkUfo__obs_0013_view_02_yaw058_rgb__t00__door",
+  "nav_y": 0.06522542238235474,
+  "semantic_ids": [
+    10
+  ],
+  "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/00304-X6Pct1msZv5__obs_0048_view_02_yaw256_rgb__t01__cabinet.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00304-X6Pct1msZv5__obs_0048_view_02_yaw256_rgb__t01__cabinet",
+  "nav_y": 0.14680051803588867,
+  "semantic_ids": [
+    64
+  ],
+  "trajectory": {
+    "scene_id": "00304-X6Pct1msZv5/X6Pct1msZv5.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00304-X6Pct1msZv5/X6Pct1msZv5.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00324-DoSbsoo4EAg__obs_0025_view_00_yaw264_rgb__t01__chair.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00324-DoSbsoo4EAg__obs_0025_view_00_yaw264_rgb__t01__chair",
+  "nav_y": 0.08375927805900574,
+  "semantic_ids": [
+    199
+  ],
+  "trajectory": {
+    "scene_id": "00324-DoSbsoo4EAg/DoSbsoo4EAg.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00324-DoSbsoo4EAg/DoSbsoo4EAg.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00327-xgLmjqzoAzF__obs_0058_view_00_yaw253_rgb__t03__treadmill.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00327-xgLmjqzoAzF__obs_0058_view_00_yaw253_rgb__t03__treadmill",
+  "nav_y": 0.1556105613708496,
+  "semantic_ids": [
+    228
+  ],
+  "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/00366-fxbzYAGkrtm__obs_0004_view_03_yaw114_rgb__t00__sofa.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00366-fxbzYAGkrtm__obs_0004_view_03_yaw114_rgb__t00__sofa",
+  "nav_y": -3.106410026550293,
+  "semantic_ids": [
+    187
+  ],
+  "trajectory": {
+    "scene_id": "00366-fxbzYAGkrtm/fxbzYAGkrtm.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00366-fxbzYAGkrtm/fxbzYAGkrtm.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00366-fxbzYAGkrtm__obs_0023_view_00_yaw298_rgb__t00__door.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00366-fxbzYAGkrtm__obs_0023_view_00_yaw298_rgb__t00__door",
+  "nav_y": 0.13427305221557617,
+  "semantic_ids": [
+    326
+  ],
+  "trajectory": {
+    "scene_id": "00366-fxbzYAGkrtm/fxbzYAGkrtm.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00366-fxbzYAGkrtm/fxbzYAGkrtm.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00378-DqJKU7YU7dA__obs_0027_view_03_yaw315_rgb__t00__trash_can.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00378-DqJKU7YU7dA__obs_0027_view_03_yaw315_rgb__t00__trash_can",
+  "nav_y": -0.12082625925540924,
+  "semantic_ids": [
+    309
+  ],
+  "trajectory": {
+    "scene_id": "00378-DqJKU7YU7dA/DqJKU7YU7dA.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00378-DqJKU7YU7dA/DqJKU7YU7dA.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00388-pcpn6mFqFCg__obs_0020_view_02_yaw319_rgb__t00__microwave.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00388-pcpn6mFqFCg__obs_0020_view_02_yaw319_rgb__t00__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/00388-pcpn6mFqFCg__obs_0021_view_02_yaw270_rgb__t00__microwave.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00388-pcpn6mFqFCg__obs_0021_view_02_yaw270_rgb__t00__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/00407-NPHxDe6VeCc__obs_0054_view_03_yaw118_rgb__t00__door.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00407-NPHxDe6VeCc__obs_0054_view_03_yaw118_rgb__t00__door",
+  "nav_y": -0.12146031856536865,
+  "semantic_ids": [
+    126
+  ],
+  "trajectory": {
+    "scene_id": "00407-NPHxDe6VeCc/NPHxDe6VeCc.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00407-NPHxDe6VeCc/NPHxDe6VeCc.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00410-v7DzfFFEpsD__obs_0016_view_02_yaw009_rgb__t00__flour_container.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00410-v7DzfFFEpsD__obs_0016_view_02_yaw009_rgb__t00__flour_container",
+  "nav_y": -2.924417495727539,
+  "semantic_ids": [
+    767
+  ],
+  "trajectory": {
+    "scene_id": "00410-v7DzfFFEpsD/v7DzfFFEpsD.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00410-v7DzfFFEpsD/v7DzfFFEpsD.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00410-v7DzfFFEpsD__obs_0021_view_02_yaw267_rgb__t00__blackboard.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00410-v7DzfFFEpsD__obs_0021_view_02_yaw267_rgb__t00__blackboard",
+  "nav_y": -2.924417495727539,
+  "semantic_ids": [
+    534
+  ],
+  "trajectory": {
+    "scene_id": "00410-v7DzfFFEpsD/v7DzfFFEpsD.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00410-v7DzfFFEpsD/v7DzfFFEpsD.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00410-v7DzfFFEpsD__obs_0057_view_03_yaw254_rgb__t00__armchair.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00410-v7DzfFFEpsD__obs_0057_view_03_yaw254_rgb__t00__armchair",
+  "nav_y": 0.10536885261535645,
+  "semantic_ids": [
+    9
+  ],
+  "trajectory": {
+    "scene_id": "00410-v7DzfFFEpsD/v7DzfFFEpsD.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00410-v7DzfFFEpsD/v7DzfFFEpsD.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00434-L5QEsaVqwrY__obs_0016_view_00_yaw101_rgb__t00__planter.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00434-L5QEsaVqwrY__obs_0016_view_00_yaw101_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/00440-wPLokgvCnuk__obs_0026_view_01_yaw000_rgb__t00__door.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00440-wPLokgvCnuk__obs_0026_view_01_yaw000_rgb__t00__door",
+  "nav_y": 0.6802167892456055,
+  "semantic_ids": [
+    104
+  ],
+  "trajectory": {
+    "scene_id": "00440-wPLokgvCnuk/wPLokgvCnuk.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00440-wPLokgvCnuk/wPLokgvCnuk.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00444-sX9xad6ULKc__obs_0023_view_02_yaw187_rgb__t01__side_table.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00444-sX9xad6ULKc__obs_0023_view_02_yaw187_rgb__t01__side_table",
+  "nav_y": 0.08200240880250931,
+  "semantic_ids": [
+    33
+  ],
+  "trajectory": {
+    "scene_id": "00444-sX9xad6ULKc/sX9xad6ULKc.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00444-sX9xad6ULKc/sX9xad6ULKc.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00463-URjpCob8MGw__obs_0013_view_00_yaw338_rgb__t00__cabinet.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00463-URjpCob8MGw__obs_0013_view_00_yaw338_rgb__t00__cabinet",
+  "nav_y": 0.04263806343078613,
+  "semantic_ids": [
+    282
+  ],
+  "trajectory": {
+    "scene_id": "00463-URjpCob8MGw/URjpCob8MGw.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00463-URjpCob8MGw/URjpCob8MGw.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00463-URjpCob8MGw__obs_0015_view_02_yaw050_rgb__t00__cabinet.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00463-URjpCob8MGw__obs_0015_view_02_yaw050_rgb__t00__cabinet",
+  "nav_y": 0.04263806343078613,
+  "semantic_ids": [
+    282
+  ],
+  "trajectory": {
+    "scene_id": "00463-URjpCob8MGw/URjpCob8MGw.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00463-URjpCob8MGw/URjpCob8MGw.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00463-URjpCob8MGw__obs_0016_view_01_yaw359_rgb__t00__dresser.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00463-URjpCob8MGw__obs_0016_view_01_yaw359_rgb__t00__dresser",
+  "nav_y": 0.04263806343078613,
+  "semantic_ids": [
+    48
+  ],
+  "trajectory": {
+    "scene_id": "00463-URjpCob8MGw/URjpCob8MGw.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00463-URjpCob8MGw/URjpCob8MGw.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00475-g7hUFVNac26__obs_0014_view_03_yaw048_rgb__t02__chair.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00475-g7hUFVNac26__obs_0014_view_03_yaw048_rgb__t02__chair",
+  "nav_y": 0.09389681369066238,
+  "semantic_ids": [
+    467
+  ],
+  "trajectory": {
+    "scene_id": "00475-g7hUFVNac26/g7hUFVNac26.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00475-g7hUFVNac26/g7hUFVNac26.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}

evaluation/scene_contexts/00495-CQWES1bawee__obs_0002_view_01_yaw349_rgb__t00__bucket.json

@@ -0,0 +1,12 @@
+{
+  "target_uid": "00495-CQWES1bawee__obs_0002_view_01_yaw349_rgb__t00__bucket",
+  "nav_y": -3.009823799133301,
+  "semantic_ids": [
+    72
+  ],
+  "trajectory": {
+    "scene_id": "00495-CQWES1bawee/CQWES1bawee.basis.glb",
+    "scene_path": "${HM3D_SCENE_ROOT}/00495-CQWES1bawee/CQWES1bawee.basis.glb",
+    "dataset_config": "${HM3D_SCENE_ROOT}/../hm3d_annotated_basis.scene_dataset_config.json"
+  }
+}