| --- |
| language: |
| - en |
| license: other |
| license_name: scalenav-data-component-terms |
| license_link: https://huggingface.co/datasets/Yangyihui/ScaleNav-Data/blob/main/README.md#sources-and-license |
| task_categories: |
| - robotics |
| size_categories: |
| - 10K<n<100K |
| tags: |
| - arxiv:2610.25690 |
| - navigation |
| - embodied-ai |
| - video |
| viewer: false |
| --- |
| |
| # ScaleNav Data |
|
|
| Prepared Internet navigation videos, instructions, recorded simulation |
| trajectories and evaluation selections for **ScaleNav: Scalable Internet Video |
| Pretraining for Language-Conditioned Local Navigation**. |
|
|
| [Paper](https://arxiv.org/abs/2610.25690) · |
| [Code](https://github.com/MachEmbodied/ScaleNav) · |
| [Model](https://huggingface.co/Yangyihui/ScaleNav) · |
| [Project page](https://zju3dv.github.io/ScaleNav/) · [Collection](https://huggingface.co/collections/Yangyihui/scalenav-6ad591e8ff62bb75ec75f645) |
|
|
| ## Choose a dataset |
|
|
| [Training data](#training-data) · [Evaluation data](#evaluation-data) · [Access and preparation](#access-and-preparation) · [Sources and license](#sources-and-license) |
|
|
| To try navigation, start with the [Habitat-GS-LN test subset](https://github.com/MachEmbodied/ScaleNav/blob/main/docs/EVALUATION.md#test-subset). |
| To check the training pipeline, start with the [small training subset](https://github.com/MachEmbodied/ScaleNav/blob/main/docs/DATA.md#small-training-subset). |
| Each linked guide covers the complete download and preparation process. |
|
|
| ### Training data |
|
|
| | Selection and guide | Contents | Download | Prepared disk | |
| | --- | --- | ---: | ---: | |
| | [Small training subset](https://github.com/MachEmbodied/ScaleNav/blob/main/docs/DATA.md#small-training-subset) | 17 Internet segments / 4 simulated episodes | 55.60 MB | 239.54 MB | |
| | [Full training data](https://github.com/MachEmbodied/ScaleNav/blob/main/docs/DATA.md#full-training-data) | 18,249 Internet segments / 2,600 simulated episodes, including validation | 36.10 GB | 153.04 GB | |
|
|
| ### Evaluation data |
|
|
| | Selection and guide | Contents | Download | Prepared disk | |
| | --- | --- | ---: | ---: | |
| | [Habitat-GS-LN test subset](https://github.com/MachEmbodied/ScaleNav/blob/main/docs/EVALUATION.md#test-subset) | 16 tasks / 13 scenes | 991.32 MB | 2.96 GB | |
| | [Full Habitat-GS-LN](https://github.com/MachEmbodied/ScaleNav/blob/main/docs/EVALUATION.md#full-habitat-gs-ln) | 157 tasks / 45 scenes | 3.17 GB | 10.36 GB | |
| | [Short-Horizon OVON test subset](#ovon-test-subset) | 7 tasks / 7 scenes | 642.85 MB | 642.90 MB | |
| | [Full Short-Horizon OVON](https://github.com/MachEmbodied/ScaleNav/blob/main/docs/EVALUATION.md#full-short-horizon-ovon) | 524 tasks / 36 scenes | 5.84 GB | 3.67 GB | |
|
|
| Test subsets contain selected successful ScaleNav cases for trying the pipeline. |
| Use the full evaluation sets for benchmark scores. |
|
|
| **Download** includes all required sources; the HF sidebar counts only files hosted |
| in this repository. **Prepared disk** includes prepared data and retained downloads |
| after the guide's cleanup. Sizes use decimal MB/GB. |
| Full OVON needs **9.34 GB** before archive cleanup. |
| Model weights, environments, latent caches and run outputs are separate. |
| [Exact size breakdowns](https://github.com/MachEmbodied/ScaleNav/blob/main/docs/DATA.md#choose-a-download). |
|
|
| ## Access and preparation |
|
|
| ### OVON test subset |
|
|
| This ScaleNav subset contains 7 selected Short-Horizon OVON tasks in 7 HM3D |
| scenes. Accept the Matterport academic-use agreement on the |
| [subset access page](https://huggingface.co/datasets/Yangyihui/ScaleNav-OVON-Subset). |
| Access is granted automatically after submitting the form. After completing |
| the [installation](https://github.com/MachEmbodied/ScaleNav#installation), run |
| from the ScaleNav repository root: |
|
|
| ```bash |
| hf auth login |
| python scripts/prepare_data.py ovon --subset test_subset \ |
| --source data/upstream/evaluation/ovon \ |
| --scenes data/upstream/evaluation/hm3d \ |
| --output data/evaluation/ovon_test_subset --download |
| ``` |
|
|
| The command downloads only the required scene files, original navmeshes, |
| semantic labels, task metadata and official ABotN starting poses, verifies their |
| SHA-256 hashes and applies our instructions. No full HM3D archives are needed. |
| Continue with [OVON evaluation](https://github.com/MachEmbodied/ScaleNav/blob/main/docs/EVALUATION.md#run-short-horizon-ovon-evaluation) |
| using `EVAL_SET=ovon_test_subset`. |
|
|
| The files are hosted in a separate access-controlled repository for the |
| Matterport agreement. This page is the shared entry point for all ScaleNav data. |
|
|
| ### InteriorGS scenes |
|
|
| InteriorGS supports individual scene and file downloads. After obtaining |
| [official access](https://huggingface.co/datasets/spatialverse/InteriorGS), the |
| preparation commands fetch only the files needed by the selected data split. |
| The small training preview downloads one compressed scene |
| (`0003_839989`, 43,943,514 bytes), alongside the 11,660,372-byte Internet pack |
| and index. Habitat-GS-LN preparation likewise fetches only the required scene |
| assets and labels. Neither requires downloading the entire InteriorGS dataset. |
|
|
| Scene files remain at their official sources under the InteriorGS terms. |
| Our instructions, recorded trajectories and permitted Habitat-GS navmeshes |
| are supplied separately and combined automatically during preparation. |
|
|
| ## Contents |
|
|
| - `internet/train-*.tar`, `internet/val.tar`: selected SpatialVID-derived videos |
| at 512×288 / 4 Hz. `internet/train-smoke.tar` is independently downloadable. |
| - Each TAR contains `videos/<clip-id>.mp4`, `annotations.jsonl`, `LICENSE` and |
| `SOURCE.txt`. Annotations include both canonical and paraphrased instructions, |
| fixed splits, upstream archive paths and zero-based, end-exclusive frame bounds. |
| - `internet/videos.jsonl.gz`: per-video hashes, sizes, frame counts, source |
| identifiers and full-release archive membership. |
| - `internet/manifest.json`: pack hashes and the associated annotation checksum. |
| - `annotations/internet.jsonl.gz`: 18,249 accepted Internet navigation segments. |
| - `annotations/simulation.jsonl.gz`, `simulation.npz`: 2,600 trajectories and |
| their instructions, actions, poses and camera settings. No pickle is required. |
| - `annotations/evaluation/`: separate Habitat-GS-LN and Short-Horizon OVON tasks. |
| - `evaluation/habitatgs_ln/navmeshes/`: 45 original Habitat-GS navigation meshes |
| (980,920 bytes), with [source attribution](evaluation/habitatgs_ln/SOURCE.txt). |
| - `annotations/prompts/`: extraction, review, refinement and paraphrasing prompts. |
|
|
| Internet training and validation are disjoint by upstream clip ID. Simulation |
| uses 618 training and 32 validation scenes, with no scene overlap; its 650 scenes |
| are disjoint from the 45 Habitat-GS-LN evaluation scenes. The included |
| `annotations/manifest.json` records fixed sample IDs and upstream revisions. |
|
|
| ## Simulation and evaluation |
|
|
| Download InteriorGS scenes from the official source and replay our recorded |
| poses to render training video. Simulation scenes, rendered simulation videos |
| and latent caches are not included in these Internet video packs. |
|
|
| The [evaluation guide](https://github.com/MachEmbodied/ScaleNav/blob/main/docs/EVALUATION.md) provides preparation and |
| evaluation commands for both benchmarks. The test subsets contain selected |
| successful ScaleNav cases, with paper examples first; use the full sets for |
| benchmark scores. |
|
|
| The preparation command downloads the required original Habitat-GS navmeshes |
| from this repository and verifies their SHA-256 hashes. Full Habitat-GS-LN |
| reconstructs 39 scene visuals from official InteriorGS files; the pinned |
| Habitat-GS collection supplies the remaining six scene visuals. Short-Horizon |
| OVON uses unchanged original HM3D navmeshes, served in the compact subset or |
| obtained from the official archives, and prepares target footprints and reference |
| paths locally. |
| These are closed-loop evaluations; observations are rendered during navigation. |
|
|
| ## Sources and license |
|
|
| The SpatialVID-derived videos and ScaleNav annotations use |
| [CC BY-NC-SA 4.0](LICENSE): attribute the original source and ScaleNav, retain |
| license notices, identify changes, use the data noncommercially and share |
| adaptations under the same license. Code uses a separate Apache-2.0 license. |
|
|
| - **SpatialVID-HQ**, Jiahao Wang, Yufeng Yuan and collaborators (CVPR 2026): |
| [dataset](https://huggingface.co/datasets/FelixYuan-YF/SpatialVID-HQ), |
| [paper](https://arxiv.org/abs/2509.09676), |
| [code and license declaration](https://github.com/NJU-3DV/SpatialVID#license). |
| ScaleNav selected clips, resampled them to 512×288 / 4 Hz, and |
| added navigation intervals, instructions, paraphrases and fixed splits. |
| See [the source and modification notice](internet/SOURCE.txt). |
| - **Habitat-GS**: the 45 original evaluation navmeshes are included with the |
| authors' permission and retain their upstream terms. The ScaleNav annotation |
| license does not relicense these files; see [source attribution](evaluation/habitatgs_ln/SOURCE.txt). |
| - **InteriorGS**, SpatialVerse Research Team / Manycore Tech Inc.: |
| obtain [official access](https://huggingface.co/datasets/spatialverse/InteriorGS) |
| and follow its [terms](https://kloudsim-usa-cos.kujiale.com/InteriorGS/InteriorGS_Terms_of_Use.pdf). |
| Downloaded scene data must not be redistributed under those terms. |
| - **HM3D**, [HM3D-OVON](https://huggingface.co/datasets/nyokoyama/hm3d_ovon), and |
| [ABot Short-Horizon OVON](https://huggingface.co/datasets/acvlab/ABotN-Short-Horizon-OVON): |
| obtain source assets under their respective terms, including the |
| [Matterport academic-use agreement](https://matterport.com/legal/matterport-end-user-license-agreement-academic-use-model-data). |
|
|
| InteriorGS scenes and geometry annotations are obtained from their original |
| sources. HM3D assets are hosted separately in the gated OVON subset or obtained |
| from the official archives, under their original terms. |
| The Internet videos are an independently prepared subset, not an official |
| SpatialVID release or endorsement. Copyright in the original footage remains |
| with its respective holders; the license grants only rights its licensors have |
| authority to grant. For attribution corrections or removal requests, provide the |
| affected clip IDs in this repository's Discussions or the linked code repository's |
| Issues. The full license includes the disclaimer of warranties. |
|
|
