---
license: cc-by-4.0
task_categories:
  - visual-question-answering
  - image-to-text
language:
  - en
tags:
  - spatial-reasoning
  - 3d-scenes
  - vision-language
  - benchmark
size_categories:
  - 10K<n<100K
---
# Theory of Space： Visual Scene Dataset

This dataset provides pre-rendered 3D multi-room environments for evaluating spatial reasoning in Vision Language Models (VLMs). It is designed to support the **Theory of Space (ToS)** benchmark, which tests whether foundation models can actively construct spatial beliefs through exploration.

**Paper**: Theory of Space: Can foundation models construct spatial beliefs through active perception?  
**Project Page**: https://theory-of-space.github.io  
**GitHub Repository**: https://github.com/williamzhangNU/Theory-of-Space

## Dataset Overview

| Property | Value |
|----------|-------|
| Rooms | 3 |
| Total Runs | 100 |
| Objects per Room | 4 |
| Includes False-Belief Data | Yes |

## Usage

Download via Hugging Face CLI:

```bash
huggingface-cli download MLL-Lab/tos-data --repo-type dataset --local-dir room_data
```

Or use the ToS setup script which downloads automatically:

```bash
git clone https://github.com/williamzhangNU/Theory-of-Space.git
cd Theory-of-Space
source setup.sh
```

Refer to the [GitHub repository](https://github.com/williamzhangNU/Theory-of-Space) for evaluation instructions.

## File Structure

```
tos-data/
└── runXX/                              # 100 runs (run00 - run99)
    ├── meta_data.json                  # Scene metadata (layout, objects, positions)
    ├── falsebelief_exp.json            # False-belief experiment data
    ├── top_down.png                    # Top-down view of the scene
    ├── top_down_annotated.png          # Annotated top-down view
    ├── top_down_fbexp.png              # Top-down view (false-belief state)
    ├── agent_facing_*.png              # Agent perspective images (north/south/east/west)
    ├── <object_id>_facing_*.png        # Object/door camera views
    ├── *_fbexp.png                     # False-belief experiment images
    └── top_down/
        └── img_0000.png                # Additional top-down renders
```

## File Descriptions

| File | Description |
|------|-------------|
| `meta_data.json` | Complete scene metadata including room layout, object positions, orientations, and connectivity |
| `falsebelief_exp.json` | Specifies object modifications (move/rotate) for belief update evaluation |
| `agent_facing_*.png` | Egocentric views from agent's perspective in 4 cardinal directions |
| `<object_id>_facing_*.png` | Views from each object/door position |
| `*_fbexp.png` | Images rendered after false-belief modifications |
| `top_down*.png` | Bird's-eye view for visualization and debugging |