---
license: cc-by-4.0
language:
- en
pretty_name: SceneTrans
size_categories:
- 10K<n<100K
task_categories:
- image-to-text
- visual-question-answering
- image-feature-extraction
tags:
- change-detection
- scene-difference
- spot-the-difference
- synthetic
- isaac-sim
- image-pair
- robotics
---

# SceneTrans

**SceneTrans** is a synthetic dataset of paired indoor scene images (A/B pairs) for
**scene change detection / "spot-the-difference"** research. Each pair shows the *same* scene
before and after an object-level edit — an object being **added**, **moved**, **removed**, or
left **unchanged** — together with a natural-language description and the corresponding action.

All scenes are rendered with **NVIDIA Isaac Sim 5.1.0** from USD assets, and come with RGB, depth,
and segmentation modalities plus ground-truth metadata about what changed.

> 💻 Generation scripts, annotation notebooks, and full documentation are on GitHub:
> **[ShenGroup/SceneTrans](https://github.com/ShenGroup/SceneTrans)**.

## Example

A snapshot of representative scenes and A/B pairs in the dataset:

![Dataset overview](dataset.png)

## Scenes

The data is distributed as per-scene `.zip` archives (the number in each filename is the number of
A/B pairs), spanning **8 indoor scenes** and roughly **14,605** pairs in total.

| Archive | Scene | A/B pairs |
| --- | --- | --- |
| `kitchen_sim_2300.zip` | Kitchen | 2,300 |
| `studyroom_desk_sim_2400.zip` | Study room – desk | 2,400 |
| `bedroom1_bed_sim_2390.zip` | Bedroom – bed | 2,390 |
| `livingroom_sim_1990.zip` | Living room | 1,990 |
| `livingroom_shelf_sim_1925.zip` | Living room – shelf | 1,925 |
| `childrenroom_desk_sim_1660.zip` | Children room – desk | 1,660 |
| `diningroom_sim_1140.zip` | Dining room | 1,140 |
| `bedroom1_shelf_sim_800.zip` | Bedroom – shelf | 800 |
| `assets.zip` | USD scene/object assets (source environments) | – |

## Change Types

Every pair belongs to one of four object-level transformations:

- **Add** — an object absent in frame A is present in frame B.
- **Move** — an object is relocated (and possibly re-oriented) between the two frames.
- **Remove** — an object present in frame A is absent in frame B.
- **Unchanged** — both frames come from the same rendered state (a valid no-change sample).

## License

Released under the
[Creative Commons Attribution 4.0 International License (CC BY 4.0)](https://creativecommons.org/licenses/by/4.0/).