Dataset Viewer

Split (1)

train

The dataset viewer is not available for this split.

Cannot load the dataset split (in streaming mode) to extract the first rows.

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
schema_version: int64
dataset: string
rerun: struct<version: string, application_id: string>
  child 0, version: string
  child 1, application_id: string
collections: struct<geometry_reconstruction: struct<data_commit: string, description: string, entities: list<item (... 416 chars omitted)
  child 0, geometry_reconstruction: struct<data_commit: string, description: string, entities: list<item: string>, scenes: list<item: st (... 68 chars omitted)
      child 0, data_commit: string
      child 1, description: string
      child 2, entities: list<item: string>
          child 0, item: string
      child 3, scenes: list<item: struct<scene_id: string, path: string, bytes: int64, sha256: string>>
          child 0, item: struct<scene_id: string, path: string, bytes: int64, sha256: string>
              child 0, scene_id: string
              child 1, path: string
              child 2, bytes: int64
              child 3, sha256: string
  child 1, scene_understanding: struct<data_commit: string, description: string, parameters: struct<preprocess_voxel_size_m: double, (... 192 chars omitted)
      child 0, data_commit: string
      child 1, description: string
      child 2, parameters: struct<preprocess_voxel_size_m: double, model_grid_size_m: double, decoding: string, coordinate_fram (... 10 chars omitted)
          child 0, preprocess_voxel_size_m: double
          child 1, model_grid_size_m: double
          child 2, decoding: string
          child 3, coordinate_frame: string
      child 3, entities: list<item: string>
          child 0, item: string
      child 4, scenes: list<item: struct<scene_id: string, path: string, bytes: int64, sha256: string>>
          child 0, item: struct<scene_id: string, path: string, bytes: int64, sha256: string>
              child 0, scene_id: string
              child 1, path: string
              child 2, bytes: int64
              child 3, sha256: string
scenes: list<item: struct<scene_id: string, path: string, bytes: int64, sha256: string>>
  child 0, item: struct<scene_id: string, path: string, bytes: int64, sha256: string>
      child 0, scene_id: string
      child 1, path: string
      child 2, bytes: int64
      child 3, sha256: string
rerun_web_version: string
dataset_url: string
data_commit: string
links: list<item: struct<scene_id: string, rrd_url: string, notion_embed_url: string>>
  child 0, item: struct<scene_id: string, rrd_url: string, notion_embed_url: string>
      child 0, scene_id: string
      child 1, rrd_url: string
      child 2, notion_embed_url: string
to
{'dataset': Value('string'), 'dataset_url': Value('string'), 'data_commit': Value('string'), 'rerun_web_version': Value('string'), 'links': List({'scene_id': Value('string'), 'rrd_url': Value('string'), 'notion_embed_url': Value('string')})}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 489, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2818, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2355, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2380, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 536, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 419, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              schema_version: int64
              dataset: string
              rerun: struct<version: string, application_id: string>
                child 0, version: string
                child 1, application_id: string
              collections: struct<geometry_reconstruction: struct<data_commit: string, description: string, entities: list<item (... 416 chars omitted)
                child 0, geometry_reconstruction: struct<data_commit: string, description: string, entities: list<item: string>, scenes: list<item: st (... 68 chars omitted)
                    child 0, data_commit: string
                    child 1, description: string
                    child 2, entities: list<item: string>
                        child 0, item: string
                    child 3, scenes: list<item: struct<scene_id: string, path: string, bytes: int64, sha256: string>>
                        child 0, item: struct<scene_id: string, path: string, bytes: int64, sha256: string>
                            child 0, scene_id: string
                            child 1, path: string
                            child 2, bytes: int64
                            child 3, sha256: string
                child 1, scene_understanding: struct<data_commit: string, description: string, parameters: struct<preprocess_voxel_size_m: double, (... 192 chars omitted)
                    child 0, data_commit: string
                    child 1, description: string
                    child 2, parameters: struct<preprocess_voxel_size_m: double, model_grid_size_m: double, decoding: string, coordinate_fram (... 10 chars omitted)
                        child 0, preprocess_voxel_size_m: double
                        child 1, model_grid_size_m: double
                        child 2, decoding: string
                        child 3, coordinate_frame: string
                    child 3, entities: list<item: string>
                        child 0, item: string
                    child 4, scenes: list<item: struct<scene_id: string, path: string, bytes: int64, sha256: string>>
                        child 0, item: struct<scene_id: string, path: string, bytes: int64, sha256: string>
                            child 0, scene_id: string
                            child 1, path: string
                            child 2, bytes: int64
                            child 3, sha256: string
              scenes: list<item: struct<scene_id: string, path: string, bytes: int64, sha256: string>>
                child 0, item: struct<scene_id: string, path: string, bytes: int64, sha256: string>
                    child 0, scene_id: string
                    child 1, path: string
                    child 2, bytes: int64
                    child 3, sha256: string
              rerun_web_version: string
              dataset_url: string
              data_commit: string
              links: list<item: struct<scene_id: string, rrd_url: string, notion_embed_url: string>>
                child 0, item: struct<scene_id: string, rrd_url: string, notion_embed_url: string>
                    child 0, scene_id: string
                    child 1, rrd_url: string
                    child 2, notion_embed_url: string
              to
              {'dataset': Value('string'), 'dataset_url': Value('string'), 'data_commit': Value('string'), 'rerun_web_version': Value('string'), 'links': List({'scene_id': Value('string'), 'rrd_url': Value('string'), 'notion_embed_url': Value('string')})}
              because column names don't match

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

YAML Metadata Warning:empty or missing yaml metadata in repo card

Check out the documentation for more information.

LiteReality Geometry Reconstruction and Scene Understanding Comparisons

本数据集包含 8 个室内场景的两组 Rerun 对比结果：三维几何重建对比，以及 RoomPlan 与 SpatialLM 的场景理解对比。数据集仅发布实验可视化 RRD 与元数据，不包含原始 RGB-D、PLY、视频、RoomPlan USDZ 或模型权重。

This dataset contains two groups of Rerun comparisons for eight indoor scenes: 3D geometry reconstruction and RoomPlan-versus-SpatialLM scene understanding. It publishes experiment recordings and metadata only; raw RGB-D, PLY, video, RoomPlan USDZ, and model weights are not included.

Directory layout / 目录结构

scenes/{scene_id}/geometry_comparison.rrd
scene_understanding/{scene_id}/comparison_original_frame.rrd

The existing scenes/ paths are retained for backward compatibility. Scene-understanding recordings use the separate scene_understanding/ tree and do not overwrite geometry recordings.

现有 scenes/ 路径为兼容已有链接而保留；场景理解结果位于独立的 scene_understanding/ 目录，不覆盖几何重建文件。

1. Geometry reconstruction / 几何重建

Each recording compares three point-cloud layers in the original scan frame:

scannerapp_dense: Scanner App dense reconstruction reference / Scanner App 稠密重建参考。
open3d_all_depth: Open3D TSDF fused from all accepted depth frames / 全部合格深度帧融合结果。
open3d_rgb_matched: Open3D TSDF using RGB-matched frames / RGB 时间匹配帧融合结果。

Scene	RRD path	Bytes
`2024_11_13_21_38_09`	`scenes/2024_11_13_21_38_09/geometry_comparison.rrd`	14,189,135
`2024_11_13_21_42_41`	`scenes/2024_11_13_21_42_41/geometry_comparison.rrd`	14,171,623
`2024_11_29_13_53_13`	`scenes/2024_11_29_13_53_13/geometry_comparison.rrd`	14,203,522
`2025_01_20_08_44_07`	`scenes/2025_01_20_08_44_07/geometry_comparison.rrd`	14,200,123
`2025_03_14_18_54_12`	`scenes/2025_03_14_18_54_12/geometry_comparison.rrd`	14,203,976
`2025_03_16_10_29_01`	`scenes/2025_03_16_10_29_01/geometry_comparison.rrd`	14,211,691
`2025_05_01_18_53_35`	`scenes/2025_05_01_18_53_35/geometry_comparison.rrd`	14,227,465
`2025_05_05_08_42_28`	`scenes/2025_05_05_08_42_28/geometry_comparison.rrd`	14,218,161

Pinned geometry data commit: 281c1d32d3d9698bea1ff75afb91e4d38deef099

Scene	Direct RRD	Rerun Viewer
`2024_11_13_21_38_09`	Download RRD	Rerun Viewer
`2024_11_13_21_42_41`	Download RRD	Rerun Viewer
`2024_11_29_13_53_13`	Download RRD	Rerun Viewer
`2025_01_20_08_44_07`	Download RRD	Rerun Viewer
`2025_03_14_18_54_12`	Download RRD	Rerun Viewer
`2025_03_16_10_29_01`	Download RRD	Rerun Viewer
`2025_05_01_18_53_35`	Download RRD	Rerun Viewer
`2025_05_05_08_42_28`	Download RRD	Rerun Viewer

2. Scene understanding / 场景理解

Each comparison_original_frame.rrd overlays the same three point clouds with four independently switchable layout groups:

roomplan: normalized Apple RoomPlan product baseline / 规范化 RoomPlan 产品基线。
scanner_dense_greedy: SpatialLM prediction from Scanner App dense point cloud.
open3d_all_depth_greedy: SpatialLM prediction from all-depth Open3D TSDF point cloud.
open3d_rgb_matched_greedy: SpatialLM prediction from RGB-matched Open3D TSDF point cloud.

SpatialLM inputs were independently Manhattan-aligned, processed with a 0.025 m preprocessing voxel and 0.025 m model grid, and decoded greedily. Predictions are transformed back into the original scan coordinate frame in these comparison recordings. RoomPlan is a common product baseline, not absolute ground truth.

SpatialLM 的三种输入分别独立完成 Manhattan 对齐，预处理体素和模型网格均为 0.025 m，并使用 greedy 解码。该组 RRD 已将预测转换回原始扫描坐标系。RoomPlan 是统一产品基线，并非绝对真值。

Scene	RRD path	Bytes
`2024_11_13_21_38_09`	`scene_understanding/2024_11_13_21_38_09/comparison_original_frame.rrd`	14,315,703
`2024_11_13_21_42_41`	`scene_understanding/2024_11_13_21_42_41/comparison_original_frame.rrd`	14,278,094
`2024_11_29_13_53_13`	`scene_understanding/2024_11_29_13_53_13/comparison_original_frame.rrd`	14,702,428
`2025_01_20_08_44_07`	`scene_understanding/2025_01_20_08_44_07/comparison_original_frame.rrd`	14,866,235
`2025_03_14_18_54_12`	`scene_understanding/2025_03_14_18_54_12/comparison_original_frame.rrd`	14,464,747
`2025_03_16_10_29_01`	`scene_understanding/2025_03_16_10_29_01/comparison_original_frame.rrd`	14,503,508
`2025_05_01_18_53_35`	`scene_understanding/2025_05_01_18_53_35/comparison_original_frame.rrd`	14,401,219
`2025_05_05_08_42_28`	`scene_understanding/2025_05_05_08_42_28/comparison_original_frame.rrd`	14,378,281

Pinned scene-understanding data commit: ee239cfb9f33bfb870887f71165d53d7fbf88ba4

Scene	Direct RRD	Rerun Viewer
`2024_11_13_21_38_09`	Download RRD	Rerun Viewer
`2024_11_13_21_42_41`	Download RRD	Rerun Viewer
`2024_11_29_13_53_13`	Download RRD	Rerun Viewer
`2025_01_20_08_44_07`	Download RRD	Rerun Viewer
`2025_03_14_18_54_12`	Download RRD	Rerun Viewer
`2025_03_16_10_29_01`	Download RRD	Rerun Viewer
`2025_05_01_18_53_35`	Download RRD	Rerun Viewer
`2025_05_05_08_42_28`	Download RRD	Rerun Viewer

Rerun version / 版本

All recordings were written with Rerun 0.21.0. Use the matching web viewer version for consistent playback. embed_links.md retains the geometry links; scene_understanding_embed_links.md contains the new scene-understanding links for Notion Embed blocks.

See manifest.json for byte sizes, SHA-256 checksums, recording groups, parameters, and immutable data commits. No license is asserted by this dataset card.

Downloads last month: 93

Total file size:

230 MB