README.md

---
license: apache-2.0
language:
  - en
task_categories:
  - visual-question-answering
  - question-answering
tags:
  - vision-language-model
  - video-question-answering
  - 3d-vision
  - spatial-understanding
  - streaming-video
  - multimodal
  - online-3d
size_categories:
  - 1M<n<10M
---

# 📦 Stream3D-1M-Dataset

Stream3D-1M-Dataset is a large-scale online spatio-temporal 3D question-answering dataset for training vision-language models to understand streaming RGB-D video. It is introduced with [Stream3D-VLM: Online 3D Spatial Understanding with Incremental Geometry Priors](https://arxiv.org/abs/2606.06891).

The dataset contains over **1M online 3D QA pairs** generated from RGB-D video streams. It is designed to support real-time 3D spatial understanding, temporal memory, and interactive reasoning in streaming environments, where models must process observations incrementally instead of relying on complete offline scene inputs.

<p align="center">
  <img src="https://stream3d-vlm.github.io/images/3-data_generation_v3.png" width="90%" />
</p>

## 🌟 Features

- Over 1M online spatio-temporal 3D QA pairs
- Built from RGB-D video streams with detailed spatial and temporal metadata
- Covers 5 cognitive competencies and 3 temporal interaction modes
- Supports training models for online 3D spatial understanding from streaming video
- Includes diverse question formats for spatial perception, reasoning, monitoring, and memory
- Designed as the training data for compatible 3D vision-language models

## 🧠 Task Coverage

Stream3D-1M follows the same task taxonomy as Stream3D-Bench. The tasks are organized around **5 cognitive competencies**:

- Ego-Motion Estimation
- Environment Measurement
- Object-Camera Relationship
- Object Attributes
- Object Chronology

The dataset further spans **3 temporal interaction modes**:

- **Forward Response (Monitoring)**: tasks that require monitoring future events in the stream
- **Realtime Perception (Observation)**: tasks that require understanding the current frame and immediate surroundings
- **Backward Tracing (Memory)**: tasks that require recalling and reasoning about past observations

## 📊 Dataset Statistics

<p align="center">
  <img src="https://stream3d-vlm.github.io/images/s2-dataset_distribution_v2.png" width="90%" />
</p>

The dataset distribution is analyzed across data source, task category, and interaction mode. ScanNet++ contributes the largest portion of QA pairs due to its dense annotations. Camera Motion tasks account for a major portion of the dataset, and the interaction modes emphasize long-term memory and active monitoring.


## 🚀 Usage

Please refer to the official repository for:

- Data format details
- Data preprocessing
- Training scripts
- Evaluation examples
- Visualization tools

Repository: https://github.com/hanxunyu/Stream3D-VLM

## 📝 Citation

If you find Stream3D-1M-Dataset useful for your research or applications, please consider citing our work:

```bibtex
@article{yu2026stream3d,
    title={Stream3D-VLM: Online 3D Spatial Understanding with Incremental Geometry Priors},
    author={Hanxun Yu and Xuan Qu and Lei Ke and Boqiang Zhang and Yuxin Wang and Jianke Zhu and Dong Yu},
    journal={arXiv preprint arXiv:2606.06891},
    year={2026}
}
```