diff --git a/train/00019-AfKhsVmG8L4/AfKhsVmG8L4.basis.navmesh b/train/00019-AfKhsVmG8L4/AfKhsVmG8L4.basis.navmesh
new file mode 100644
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Binary files /dev/null and b/train/00019-AfKhsVmG8L4/AfKhsVmG8L4.basis.navmesh differ
diff --git a/train/00023-zepmXAdrpjR/zepmXAdrpjR.basis.navmesh b/train/00023-zepmXAdrpjR/zepmXAdrpjR.basis.navmesh
new file mode 100644
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Binary files /dev/null and b/train/00023-zepmXAdrpjR/zepmXAdrpjR.basis.navmesh differ
diff --git a/train/00023-zepmXAdrpjR/zepmXAdrpjR.semantic.txt b/train/00023-zepmXAdrpjR/zepmXAdrpjR.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cd1728ccec0c11f370162e28ff6a6de5de758151
--- /dev/null
+++ b/train/00023-zepmXAdrpjR/zepmXAdrpjR.semantic.txt
@@ -0,0 +1,572 @@
+HM3D Semantic Annotations
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new file mode 100644
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--- /dev/null
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+HM3D Semantic Annotations
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diff --git a/train/00035-3XYAD64HpDr/3XYAD64HpDr.basis.navmesh b/train/00035-3XYAD64HpDr/3XYAD64HpDr.basis.navmesh
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diff --git a/train/00035-3XYAD64HpDr/3XYAD64HpDr.semantic.txt b/train/00035-3XYAD64HpDr/3XYAD64HpDr.semantic.txt
new file mode 100644
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--- /dev/null
+++ b/train/00035-3XYAD64HpDr/3XYAD64HpDr.semantic.txt
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diff --git a/train/00109-GTV2Y73Sn5t/GTV2Y73Sn5t.semantic.txt b/train/00109-GTV2Y73Sn5t/GTV2Y73Sn5t.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8d04123cc855475173e783c58433b58203d6ce4e
--- /dev/null
+++ b/train/00109-GTV2Y73Sn5t/GTV2Y73Sn5t.semantic.txt
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diff --git a/train/00164-XfUxBGTFQQb/XfUxBGTFQQb.basis.navmesh b/train/00164-XfUxBGTFQQb/XfUxBGTFQQb.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..244b216d05e9d056f3f2ec0588074ec8b9785786
Binary files /dev/null and b/train/00164-XfUxBGTFQQb/XfUxBGTFQQb.basis.navmesh differ
diff --git a/train/00164-XfUxBGTFQQb/XfUxBGTFQQb.semantic.txt b/train/00164-XfUxBGTFQQb/XfUxBGTFQQb.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..781f5d87a506f34e82e76b937dab38bfdce3187c
--- /dev/null
+++ b/train/00164-XfUxBGTFQQb/XfUxBGTFQQb.semantic.txt
@@ -0,0 +1,338 @@
+HM3D Semantic Annotations
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diff --git a/train/00177-VSxVP19Cdyw/VSxVP19Cdyw.basis.navmesh b/train/00177-VSxVP19Cdyw/VSxVP19Cdyw.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..7a9c4c8a2530ad462c9af7a9d8df34018495b686
Binary files /dev/null and b/train/00177-VSxVP19Cdyw/VSxVP19Cdyw.basis.navmesh differ
diff --git a/train/00177-VSxVP19Cdyw/VSxVP19Cdyw.semantic.txt b/train/00177-VSxVP19Cdyw/VSxVP19Cdyw.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7c974eae3eec188d115bea4fbf6c1605e16699d2
--- /dev/null
+++ b/train/00177-VSxVP19Cdyw/VSxVP19Cdyw.semantic.txt
@@ -0,0 +1,437 @@
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diff --git a/train/00188-dQrLTxHvLXU/dQrLTxHvLXU.basis.navmesh b/train/00188-dQrLTxHvLXU/dQrLTxHvLXU.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..06bc242cf60e22344157444fd36352cb2ec51a42
Binary files /dev/null and b/train/00188-dQrLTxHvLXU/dQrLTxHvLXU.basis.navmesh differ
diff --git a/train/00188-dQrLTxHvLXU/dQrLTxHvLXU.semantic.txt b/train/00188-dQrLTxHvLXU/dQrLTxHvLXU.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f66ffa0998cf8b796f0e2a69f7a4dfc1fc49a62d
--- /dev/null
+++ b/train/00188-dQrLTxHvLXU/dQrLTxHvLXU.semantic.txt
@@ -0,0 +1,402 @@
+HM3D Semantic Annotations
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diff --git a/train/00217-qz3829g1Lzf/qz3829g1Lzf.semantic.txt b/train/00217-qz3829g1Lzf/qz3829g1Lzf.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7fe050d5d64a2b618baa7e13c05b78e2a8503fe1
--- /dev/null
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+332,96B1C7,"chair",8
+333,20654C,"chair",8
+334,569BCC,"chair",8
+335,3CFD7E,"chair",8
+336,8D6F5D,"table",8
+337,35A7DD,"ceiling",9
+338,B548E3,"ceiling lamp",9
+339,9557AE,"ceiling",9
+340,D5265E,"ceiling",9
+341,3CCDB7,"wall",9
+342,80A262,"wall",9
+343,E43ABE,"clock",9
+344,CDEAA2,"wall",9
+345,5709A2,"wall",9
+346,13CD1C,"wall",9
+347,D1410E,"wall",9
+348,002343,"wall",9
+349,B0E8C3,"wall",9
+350,604F4B,"wall",9
+351,05D7BB,"door",9
+352,2E9409,"wall",9
+353,9B1BA0,"floor",9
+354,F0EC1D,"floor mat",9
+355,5508B3,"floor mat",9
+356,6F29F0,"floor mat",9
+357,210A18,"kitchen cabinet",9
+358,6F6D52,"kitchen decoration",9
+359,7414FF,"microwave",9
+360,4F3712,"unknown",9
+361,36BA94,"kitchen appliance",9
+362,65DD05,"kitchen appliance",9
+363,899125,"kitchen appliance",9
+364,8D874A,"kitchen appliance",9
+365,3E7C2E,"unknown",9
+366,0369B6,"coffee machine",9
+367,ECA41F,"kitchen appliance",9
+368,07DD65,"kitchen appliance",9
+369,FCF107,"kitchen cabinet",9
+370,F33FAA,"refrigerator",9
+371,C9254B,"kitchen cabinet",9
+372,772A8A,"kitchen cabinet",9
+373,CC0B9D,"oven",9
+374,6ACA2C,"dishwasher",9
+375,AC8555,"kitchen appliance",9
+376,83AD89,"kitchen appliance",9
+377,66BF71,"kitchen appliance",9
+378,6E1CB4,"kitchen appliance",9
+379,3501DB,"kitchen appliance",9
+380,20A7D5,"kitchen appliance",9
+381,EDDB45,"kitchen appliance",9
+382,30C770,"kitchen appliance",9
+383,06E213,"kitchen appliance",9
+384,5DFC23,"unknown",9
+385,68899C,"unknown",9
+386,62007E,"unknown",9
+387,D3F9E5,"sink",9
+388,27FE24,"tap",9
+389,2017E3,"paper towel",9
+390,7B5EEF,"window curtain",9
+391,958F42,"window frame",9
+392,DBF86D,"window frame",9
+393,29EFAD,"window",9
+394,158AE4,"window",9
+395,C641A8,"kitchen shelf",9
+396,C93A88,"storage box",9
+397,5EDB76,"storage box",9
+398,B7565C,"storage box",9
+399,3CD853,"unknown",9 
+400,4CE819,"radio",9
+401,F41C45,"tap",9
+402,F4D2C0,"wall electronics",9
+403,D00561,"kitchen appliance",9
+404,E64A61,"kitchen appliance",9
+405,112701,"wall hanging decoration",9
+406,B5A78F,"wall hanging decoration",9
+407,AAE9E6,"ceiling",10
+408,720B9B,"ceiling lamp",10
+409,15632D,"wall",10
+410,74E731,"wall clock",10
+411,C4371A,"wall electronics",10
+412,6E38F5,"towel",10
+413,DD4C90,"clothes hanger rod",10
+414,EF22F8,"floor",10
+415,64DBFA,"floor mat",10
+416,AB1F2F,"floor vent",10
+417,5DDBFE,"wall",10
+418,8ACAF2,"door",10
+419,BC70F1,"door frame",10
+420,BB05CC,"wall hanging decoration",10
+421,8FAEEC,"cabinet",10
+422,825E9A,"toilet",10
+423,91B82D,"bathroom accessory",10
+424,2A9F81,"bathroom accessory",10
+425,15DD71,"bathroom accessory",10
+426,B654A6,"toilet paper",10
+427,959805,"toilet paper",10
+428,B451E2,"toilet paper",10
+429,62659D,"wall",10
+430,A9A3CE,"toilet paper dispenser",10
+431,E4D630,"window curtain",10
+432,97522D,"window frame",10
+433,24B079,"radio",10
+434,DD1445,"window",10
+435,4B81FA,"window",10
+436,CC8F62,"wall",10
+437,877A4D,"closet mirror wall",10
+438,39D589,"unknown",10
+439,C8278C,"wall lamp",10
+440,71EF59,"wall lamp",10
+441,AADCF7,"wall lamp",10
+442,1C2175,"cabinet",10
+443,F0E053,"sink",10
+444,C7FE34,"bathroom accessory",10
+445,453C72,"bathroom accessory",10
+446,0E96BE,"brush",10
+447,7B50C1,"tap",10
+448,6D2113,"box of tissues",10
+449,2A3E37,"flower",10
+450,3FE9CC,"ceiling",11
+451,0D02B0,"ceiling lamp",11
+452,E6A062,"sensor",11
+453,0EEC6F,"wall clock",11
+454,BD717A,"floor",11
+455,C50649,"floor mat",11
+456,A4985B,"floor vent",11
+457,062F54,"wall",11
+458,1B644C,"door",11
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+460,43E80A,"wall",11
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+464,87507B,"wall hanging decoration",11
+465,BEECF4,"wall",11
+466,52F014,"wall",11
+467,2D01B7,"wall",11
+468,15A3D1,"painting",11
+469,E322D0,"sensor",11
+470,E55A1C,"sensor",11
+471,4833EA,"wall",11
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+475,0C5634,"wall",11
+476,9B7440,"painting",11
+477,A8D4ED,"flower",11
+478,8D011D,"flower",11
+479,12A4B3,"decorative plant",11
+480,12C572,"cabinet",11
+481,9964EA,"unknown",11
+482,2C1486,"unknown",11
+483,B5E6A8,"unknown",11
+484,8A2DA3,"unknown",11
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+495,D4601B,"table cloth",12
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+498,2D54D0,"folding chair",12
+499,0A9482,"couch",12
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+508,00A1D6,"wall",12
+509,66E92D,"wall",12
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+511,55D6D7,"painting",12
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+513,C99CF2,"armchair",12
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+515,F0FE2E,"pillow",12
+516,11C774,"wall",12
+517,2DE401,"wall",12
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+519,BF4083,"led tv",12
+520,109A27,"tv stand",12
+521,2348ED,"unknown",12
+522,5CF73C,"stand",12
+523,8528BD,"lamp",12
+524,15F2BB,"painting",12
+525,B75124,"window curtain",12
+526,9933A7,"curtain rod",12
+527,170B1A,"toy",12
+528,3E65F4,"door frame",12
+529,09C880,"window",12
+530,7668EA,"window",12
+531,2CA6CC,"basket",12
+532,BD4BD9,"throw blanket",12
+533,03E6D8,"throw blanket",12
+534,BE7184,"throw blanket",12
+535,9D97E8,"floor vent",12
+536,94DBE4,"floor vent",12
+537,E69815,"bedside table",12
+538,BFF2E8,"lamp",12
+539,763A77,"armchair",12
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+541,9CFDE3,"shoe",12
+542,2087A0,"shoe",12
+543,9C07C5,"wall",12
+544,699008,"clock",12
+545,A56480,"cabinet",12
+546,5F8DB3,"lamp",12
+547,4A7378,"candle",12
+548,A5FA69,"plate",12
+549,86ABF8,"floor vent",12
+550,270E3D,"wall",12
+551,052AFA,"wall hanging decoration",12
+552,804013,"wall hanging decoration",12
+553,9DAE1E,"wall hanging decoration",12
+554,3DCFAA,"wall hanging decoration",12
+555,A6A74C,"floor lamp",12
+556,69832B,"bedside table",12
+557,D90ED9,"unknown",12
+558,5A873B,"unknown",12
+559,AEE674,"electrical controller",12
+560,C86291,"book",12
+561,BBEF96,"cat bed",12
+562,28A1FC,"window curtain",12
+563,D0270F,"blinds",12
+564,90EBC3,"window frame",12
+565,5A3B2E,"unknown",12
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+567,627BF7,"wall",12
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+569,581A18,"painting",12
+570,3D1939,"painting",12
+571,25B026,"painting",12
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+574,BCD171,"window frame",12
+575,4BA813,"sofa chair",12
+576,9456D3,"pillow",12
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+578,E3ED4A,"pillow",12
+579,65D25D,"pillow",12
+580,32E297,"cat bed",12
+581,B69EA3,"rack",12
+582,795BE2,"vase",12
+583,97B28C,"vase",12
+584,ED18D5,"vase",12
+585,D07B3D,"box",12
+586,7488D8,"lamp",12
+587,080A08,"unknown",12 
+588,AF5AF4,"rack",12
+589,3A3669,"dresser",12
+590,394A67,"flower",12
+591,755401,"flower",12
+592,B73F46,"clock",12
+593,13202C,"clock",12
+594,87A771,"clock",12
+595,64962D,"unknown",12
+596,ACD16C,"chair",12
+597,C9187A,"wall",12
+598,2B4A96,"flower",12
+599,28105C,"dresser",12
+600,D83334,"clock",12
+601,9602BA,"picture",12
+602,14AA0D,"unknown",12
+603,0091A5,"flower",12
+604,417A30,"stand",12
+605,BD79F7,"box",12
+606,C731D0,"box",12
+607,5FE782,"unknown",12
+608,9B1A6A,"trashcan",12
+609,354826,"trashcan",12
+610,434A5A,"computer desk",12
+611,81F7C1,"chair",12
+612,31F5D6,"monitor",12
+613,02C0FD,"keyboard",12
+614,B4E27A,"computer mouse",12
+615,98A24E,"desk lamp",12
+616,61FF49,"printer",12
+617,45E33A,"unknown",12
+618,857E06,"basket",12
+619,BE67F2,"unknown",12
+620,DEBA60,"tissue box",12
+621,1CE943,"unknown",12
+622,D668FF,"unknown",12
+623,96D69A,"unknown",12
+624,C26AB9,"unknown",12
+625,908477,"unknown",12
+626,1091C0,"window frame",1
+627,B794A4,"window frame",1 
+628,EAADED,"door frame",1 
+629,94242C,"door frame",2
+630,13B0A3,"window frame",2
+631,D52325,"window frame",2
+632,39252B,"door frame",5
+633,88AEE1,"door frame",6
+634,5FCF26,"window frame",6
+635,7708DE,"door frame",7
+636,CBBA02,"door frame",7
+637,60AB69,"door frame",7
+638,7B7317,"door frame",9
+639,9D6E14,"door frame",11
+640,FE73ED,"window frame",12
+641,D0E271,"door frame",11
+642,1525B4,"ceiling fan",0
+643,A43FA4,"window",11
+644,24CDDD,"unknown",1
\ No newline at end of file
diff --git a/train/00232-XNiSi1YgPRR/XNiSi1YgPRR.basis.navmesh b/train/00232-XNiSi1YgPRR/XNiSi1YgPRR.basis.navmesh
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diff --git a/train/00242-JHHVv6QZJMm/JHHVv6QZJMm.basis.navmesh b/train/00242-JHHVv6QZJMm/JHHVv6QZJMm.basis.navmesh
new file mode 100644
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diff --git a/train/00255-NGyoyh91xXJ/NGyoyh91xXJ.basis.navmesh b/train/00255-NGyoyh91xXJ/NGyoyh91xXJ.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..d5592f3e9dee5bbea502c769569be0fd8fff493e
Binary files /dev/null and b/train/00255-NGyoyh91xXJ/NGyoyh91xXJ.basis.navmesh differ
diff --git a/train/00255-NGyoyh91xXJ/NGyoyh91xXJ.semantic.txt b/train/00255-NGyoyh91xXJ/NGyoyh91xXJ.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..97a2cdc4252b24482276cdc9db69b9a3697cc0b1
--- /dev/null
+++ b/train/00255-NGyoyh91xXJ/NGyoyh91xXJ.semantic.txt
@@ -0,0 +1,507 @@
+HM3D Semantic Annotations
+1,03B0E6,"wall",0
+2,EACC74,"wall",0
+3,888865,"wall",0
+4,20C431,"floor",0
+5,5E5D84,"coffee table",0
+6,4ADD54,"magazine",0
+7,E6504E,"magazine",0
+8,BD596E,"magazine",0
+9,98D682,"magazine",0
+10,58588E,"magazine",0
+11,485DFA,"magazine",0
+12,12ECC9,"ornament",0
+13,E5974C,"ornament",0
+14,401B11,"sofa",0
+15,3F442E,"pillow",0
+16,7F1E86,"pillow",0
+17,9739E1,"pillow",0
+18,DB1701,"pillow",0
+19,3E2A08,"pillow",0
+20,D3A956,"pillow",0
+21,D389B8,"armchair",0
+22,40981B,"pillow",0
+23,73D38E,"pillow",0
+24,1FFC85,"lamp table",0
+25,0A97A2,"lamp",0
+26,5AAC1A,"lamp table",0
+27,2A3EA1,"lamp",0
+28,EFDFD7,"armchair",0
+29,196B28,"pillow",0
+30,2FD9D6,"pillow",0
+31,4F859F,"side table",0
+32,14A0B8,"ornament",0 
+33,757358,"side table",0
+34,2CB4AA,"vase",0
+35,FCD62B,"vase",0
+36,4ED055,"ornament",0
+37,7FDDD9,"sofa",0
+38,58F293,"pillow",0
+39,F0EB88,"pillow",0
+40,CE92D3,"pillow",0
+41,429EE2,"pillow",0
+42,BF6265,"pillow",0
+43,07F890,"pillow",0
+44,534103,"ceiling",0
+45,9792B6,"chandelier",0
+46,0543A8,"curtain",0
+47,58EE04,"curtain",0
+48,9908B0,"curtain",0
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+50,BE2603,"cabinet",0
+51,CECBF4,"vase",0
+52,2BC0B8,"lamp",0
+53,5C351C,"lamp",0
+54,74859A,"wall",0
+55,70E9E9,"vase",0
+56,F6A9E8,"vase",0
+57,CC5DDC,"vase",0
+58,BDEF9E,"shelf",0
+59,E887A1,"wall",0
+60,22D8B5,"wall",0
+61,5B7488,"wall",0
+62,7C9EA5,"wall",0
+63,24F0FE,"wall",0
+64,EE7C04,"wall",0
+65,A94380,"wall",0
+66,72B4F3,"wall",0
+67,69FF64,"wall",0
+68,5C821F,"wall",0
+69,17D7C6,"wall",0
+70,2B755C,"wall",0
+71,FF00F3,"wall",0
+72,CBEFA7,"wall",0
+73,10242D,"floor",1
+74,BB32F0,"ceiling",1
+75,E10C16,"wall",1
+76,F1DAE4,"door",1
+77,0503A6,"door",1
+78,12F623,"shelf",1
+79,CE3514,"shelf",1
+80,59AA74,"ornament",1
+81,1D10D9,"wall",1 
+82,96D692,"wall",1
+83,491CD4,"wall",1
+84,C6CE16,"wall",1
+85,2E44A7,"wall",1
+86,11F7E1,"wall",1
+87,EE2921,"side table",1
+88,07B8C3,"ornament",1
+89,7DB4EB,"wall",1
+90,3B35F8,"ceiling",2
+91,A963E5,"chandelier",2
+92,51F6B1,"painting",2
+93,B0062C,"wall",2
+94,A83222,"wall",2
+95,ED457E,"window frame",2
+96,D40B7C,"curtain",2
+97,7CBD90,"floor",2
+98,4B2038,"dinner table",2
+99,F49B5F,"chair",2
+100,54BDC4,"chair",2
+101,420982,"chair",2
+102,A4F496,"chair",2
+103,0E7F4C,"chair",2
+104,D056F0,"chair",2
+105,D45E97,"floor",3
+106,18E230,"ceiling",3
+107,ED46F5,"wall",3
+108,84FD78,"wall",3
+109,5D9E6D,"door frame",3
+110,07C6B2,"door window",3
+111,739FF3,"door window",3
+112,1CD48D,"kitchen cabinet",3
+113,A483A3,"range hood",3
+114,408577,"oven",3
+115,1A5D5A,"wall",3
+116,AFF01B,"kitchen counter",3
+117,366E1D,"kitchen countertop item",3
+118,6DCB46,"kitchen countertop item",3
+119,720EA4,"kitchen countertop item",3
+120,169484,"stove",3
+121,A83D8D,"pot",3
+122,901719,"pot",3
+123,194179,"kitchen cabinet",3
+124,4B38A6,"fridge",3
+125,6C8FE7,"cabinet",3
+126,E5A37B,"kitchen cabinet",3
+127,09102E,"kitchen counter",3
+128,8D8ABB,"kitchen sink",3
+129,435625,"kitchen countertop item",3
+130,74D245,"fruit",3
+131,155207,"fruit",3
+132,82751A,"cup",3
+133,A1F740,"cup",3
+134,280B34,"flower",3
+135,D674FD,"kitchen wall",3
+136,F63B2A,"kitchen cabinet",3
+137,9EFF5A,"faucet",3
+138,7BA94A,"floor",3
+139,39E416,"ceiling",3
+140,A756E8,"toilet",4
+141,F09B53,"bath cabinet",4
+142,23655A,"window frame",4
+143,01BAD8,"window",4
+144,ACFAF9,"wall",4
+145,D54A95,"ceiling",5
+146,BC694A,"wall",5
+147,AAF3AB,"wall",5
+148,137F07,"wall",5
+149,121801,"wall",5
+150,B3E74B,"wall",5
+151,6F7E33,"wall",5
+152,0B60C9,"floor",5 
+153,1458F7,"toilet",5
+154,4DA20C,"washbasin",5
+155,E4798F,"bathroom cabinet",5
+156,E74AC5,"mirror",5
+157,6A2C09,"faucet",5
+158,0680F0,"ceiling",6
+159,66D742,"wall",6
+160,B19924,"wall",6
+161,BA40A8,"wall",6
+162,27526C,"floor",6
+163,472C2F,"bed",6
+164,F6F74C,"bedside cabinet",6
+165,6584B2,"chair",6
+166,A9C42F,"lamp",6
+167,D1C976,"desk",6
+168,D5A667,"curtain",6
+169,B3B163,"wall",6
+170,EB441A,"window",6
+171,88F0F1,"wall",6
+172,E40E09,"wardrobe",6
+173,496DFC,"wall",6
+174,F15EB8,"tv",6
+175,58C985,"ceiling",7
+176,9ABE75,"wall",7
+177,60F55D,"wall",7
+178,D4FC9E,"ventilation",7
+179,84FF4D,"wardrobe",7
+180,4795FA,"floor",7
+181,03AF72,"bedside cabinet",7
+182,C1AEE0,"bed",7
+183,EFF58A,"bedside cabinet",7
+184,12616F,"bedside lamp",7
+185,5887AC,"bedside lamp",7
+186,0BD404,"curtain",7
+187,DBDCB7,"wall",7
+188,2313BD,"window",7
+189,411563,"tv",7
+190,BBB269,"cabinet",7
+191,D11C3C,"wall",7
+192,E47050,"floor",8
+193,99A818,"ceiling",8
+194,AEFE6D,"wall",8
+195,7EFBA8,"wall",8
+196,DB09E3,"wall",8
+197,461B6D,"wall",8
+198,727CE0,"window frame",8
+199,312003,"toilet",8
+200,78AFF0,"bathroom cabinet",8
+201,D56CB5,"washbasin",8
+202,F883C3,"mirror",8
+203,9FAC2F,"unknown",8
+204,7EEF13,"unknown",8
+205,3DB065,"towel",8
+206,F7CD83,"floor",9
+207,0595AE,"ceiling",9
+208,CD57C7,"bed",9
+209,CAA1B2,"bedside cabinet",9
+210,1B8E27,"bedside lamp",9
+211,0C4518,"bedside lamp",9
+212,A8FFDB,"bedside cabinet",9
+213,D265F4,"wall",9
+214,F90EA1,"wall",9
+215,0C7C77,"tv",9
+216,40DB18,"wall",9
+217,BA9144,"curtain",9
+218,069BED,"armchair",9
+219,4455FD,"ventilation",9
+220,6DF43F,"wardrobe",9
+221,34ED4B,"door",9
+222,2892FA,"floor",10
+223,BF06ED,"wall",10
+224,0AF9C8,"ceiling",10
+225,429A02,"wall",10
+226,2EB489,"wall",10
+227,7BA40C,"mirror",10
+228,E783B5,"wall",10
+229,0BED3B,"window",10
+230,209FC9,"toilet",10
+231,574ED7,"washbasin",10
+232,5B762C,"wash cabinet",10
+233,F6F46B,"towel",10
+234,CA8AE4,"floor",11
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+495,EF92C8,"box",9
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+505,96A725,"blanket",11
+506,47D71C,"towel",4
\ No newline at end of file
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diff --git a/train/00434-L5QEsaVqwrY/L5QEsaVqwrY.semantic.txt b/train/00434-L5QEsaVqwrY/L5QEsaVqwrY.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..349457c4c8537e3655c075fc6ce23fdb2594c65c
--- /dev/null
+++ b/train/00434-L5QEsaVqwrY/L5QEsaVqwrY.semantic.txt
@@ -0,0 +1,975 @@
+HM3D Semantic Annotations
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+2,15D99F,"rug",0
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+5,B766AA,"wall",0
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+55,87DEE1,"ceiling lamp",1
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+62,53FDD7,"ceiling lamp",2
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+64,88DE18,"ceiling lamp",2
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+66,2E7E4E,"wall",2
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+68,24B406,"wall",2
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+72,D32D84,"window frame",2
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+81,68BB95,"desk",2
+82,BFC572,"keyboard",2
+83,9AED93,"mouse",2
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+89,B6671A,"ceiling lamp",3
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+97,FBC59E,"wall",3
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+111,28F567,"sink",3
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+115,99A8DA,"bathroom utensil",3
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+140,E94443,"ceiling lamp",5
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+146,CEB740,"ceiling lamp",6
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+152,9A369C,"wall",6
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+170,2AEE40,"wall",7
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+174,2AD115,"wall",7
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+180,15B5F0,"door frame",7
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+188,7E7A63,"bookshelf",7
+189,08399D,"decoration",7
+190,3DFA19,"desk",7
+191,F7A843,"window curtain",7
+192,02C3B7,"window curtain",7
+193,77FDE4,"curtain rod",7
+194,63DBB2,"rug",1
+195,055863,"floor",8
+196,1924AA,"ceiling",8
+197,E9C447,"ceiling lamp",8
+198,196648,"ceiling lamp",8
+199,85F6B2,"ceiling lamp",8
+200,C37F56,"ceiling lamp",8
+201,8975FB,"ceiling lamp",8
+202,6F8EB6,"ceiling lamp",8
+203,D31578,"ceiling lamp",8
+204,390022,"ceiling lamp",8
+205,A6AED2,"ceiling lamp",8
+206,790E25,"ceiling lamp",8
+207,8320C4,"ceiling wall",8
+208,479E0E,"ceiling wall",8
+209,F7A171,"ceiling wall",8
+210,2A0E37,"ceiling wall",8
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+213,10D390,"painting",8
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+215,5A7727,"wall",8
+216,229C20,"wall",8
+217,E32811,"wall",8
+218,EB6F5E,"wall",8
+219,D0BEE6,"wall",8
+220,5787D2,"clock",8
+221,A26A80,"ceiling wall",8
+222,3FE76F,"ceiling wall",8
+223,60E969,"ceiling wall",8
+224,DAA47B,"ceiling wall",8
+225,EB2130,"ceiling lamp",8
+226,09EB1C,"ceiling lamp",8
+227,E7D1F7,"wall",8
+228,7C7310,"wall",8
+229,B26E25,"wall",8
+230,47FC88,"wall",8
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+236,951FB6,"wall",8
+237,477DAE,"wall",8
+238,5EB1BF,"wall",8
+239,92CEA7,"wall",8
+240,334825,"kitchen cabinet",8
+241,FB4BA8,"kitchen counter",8
+242,054EC0,"oven",8
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--- /dev/null
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diff --git a/train/00598-mt9H8KcxRKD/mt9H8KcxRKD.basis.navmesh b/train/00598-mt9H8KcxRKD/mt9H8KcxRKD.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..1f7c177568b1c3fb3876584254057d37f7515767
Binary files /dev/null and b/train/00598-mt9H8KcxRKD/mt9H8KcxRKD.basis.navmesh differ
diff --git a/train/00598-mt9H8KcxRKD/mt9H8KcxRKD.semantic.txt b/train/00598-mt9H8KcxRKD/mt9H8KcxRKD.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d3c7d450f606a0483e2f32146f42094cc18f984f
--- /dev/null
+++ b/train/00598-mt9H8KcxRKD/mt9H8KcxRKD.semantic.txt
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diff --git a/train/00707-XVSZJAtHKdi/XVSZJAtHKdi.basis.navmesh b/train/00707-XVSZJAtHKdi/XVSZJAtHKdi.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..f9deac3ae9aa2943efd920b12bb6cec7cf888703
Binary files /dev/null and b/train/00707-XVSZJAtHKdi/XVSZJAtHKdi.basis.navmesh differ
diff --git a/train/00707-XVSZJAtHKdi/XVSZJAtHKdi.semantic.txt b/train/00707-XVSZJAtHKdi/XVSZJAtHKdi.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6695d6e66aba28fc187541fb951c4eff688a91a5
--- /dev/null
+++ b/train/00707-XVSZJAtHKdi/XVSZJAtHKdi.semantic.txt
@@ -0,0 +1,675 @@
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+652,837E0B,"box",8
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+655,06603F,"electric box",8
+656,887CD4,"tap",1
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+665,049863,"tap",9
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+671,BF8514,"tap",13
+672,A668D8,"tap",14
+673,7DE765,"floor",3
+674,86E08A,"tap",14
\ No newline at end of file
diff --git a/train/00708-eUJx9a4u63E/eUJx9a4u63E.basis.navmesh b/train/00708-eUJx9a4u63E/eUJx9a4u63E.basis.navmesh
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diff --git a/train/00724-H77MhktmmAF/H77MhktmmAF.basis.navmesh b/train/00724-H77MhktmmAF/H77MhktmmAF.basis.navmesh
new file mode 100644
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diff --git a/train/00738-GPyDUnjwZQy/GPyDUnjwZQy.basis.navmesh b/train/00738-GPyDUnjwZQy/GPyDUnjwZQy.basis.navmesh
new file mode 100644
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Binary files /dev/null and b/train/00738-GPyDUnjwZQy/GPyDUnjwZQy.basis.navmesh differ
diff --git a/train/00738-GPyDUnjwZQy/GPyDUnjwZQy.semantic.txt b/train/00738-GPyDUnjwZQy/GPyDUnjwZQy.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd7bd640d9a2ae1dad5fc5d554ab66d11ee1ad5c
--- /dev/null
+++ b/train/00738-GPyDUnjwZQy/GPyDUnjwZQy.semantic.txt
@@ -0,0 +1,423 @@
+HM3D Semantic Annotations
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+2,AC18AB,"wall",0
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+16,45BBA5,"pillow",0
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+20,105B2E,"decorative plant",0
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+42,868144,"wall",0
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+55,354C45,"door",1
+56,AC16D8,"door knob",1
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+62,947679,"bath faucet",1
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+67,67420A,"wall",1
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+73,F0E7D2,"washbasin",1
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+92,4E1064,"wall",2
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+117,385ADC,"wall",3
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+119,C14CAE,"stuffed animal",3
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+122,A5F3FB,"mascots",3
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+127,3F574D,"pillow",3
+128,8B04E3,"pillow",3
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+151,C1058C,"bedside table",4
+152,34FEC6,"table lamp",4
+153,FA8611,"decoration",4
+154,BFF7C8,"bed",4
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+157,C539D7,"pillow",4
+158,1EAF31,"stuffed animal",4
+159,D07A7D,"picture",4
+160,C59242,"ceiling lamp",4
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+190,BFCF52,"curtain",5
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+193,C5763F,"window frame",5
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+196,723454,"wall",5
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+199,333C00,"curtain",5
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+201,DD1BA1,"window frame",5
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+206,647D09,"painting",5
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+218,333748,"kitchen cabinet",5
+219,013B2C,"kitchen cabinet lower",5
+220,4CB445,"decorative plant",5
+221,4213FD,"sink",5
+222,35F6F0,"tap",5
+223,48F408,"dishwasher",5
+224,A65BDE,"coffee machine",5
+225,4F188D,"fridge",5
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+234,ED6795,"kitchen cabinet",5
+235,B4BD5C,"microwave",5
+236,6A7175,"range hood",5
+237,A6191D,"kitchen cabinet lower",5
+238,7FDEC8,"oven",5
+239,1C7340,"ceiling lamp",5
+240,CC74EB,"ceiling lamp",5
+241,122419,"ceiling lamp",5
+242,878918,"ceiling lamp",5
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+246,BF6504,"ceiling lamp",5
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+248,47A394,"floor",6
+249,CB5159,"door",6
+250,A1E58B,"door frame",6
+251,D66B62,"door knob",6
+252,0DBC55,"wall",6
+253,591F6A,"door frame",6
+254,14BE7A,"wall",6
+255,444F92,"wall",6
+256,8CD39F,"wall",6
+257,69D944,"ceiling",6
+258,638D60,"shelf",6
+259,9BD563,"shoe shelf",6
+260,16A956,"pillow",6
+261,B39C08,"decorative plant",6
+262,42915D,"decoration",6
+263,8030BF,"decoration",6
+264,7697B0,"door",6
+265,9624E1,"door knob",6
+266,DD6EE5,"wall",6
+267,763E41,"door",7
+268,319713,"floor",7
+269,04A1C3,"door knob",7
+270,48829E,"ceiling",7
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+272,37E725,"wall",7
+273,01EB9D,"wall lamp",7
+274,13F809,"mirror",7
+275,B81B1E,"wash cabinet",7
+276,B52953,"washbasin",7
+277,D21598,"faucet",7
+278,A6A902,"decorative plant",7
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+280,A24C65,"painting",7
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+282,9DFDD2,"towel bar",7
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+284,EF5BD5,"wall",5
+285,A00122,"wall",5
+286,9CBB3A,"stairs",5
+287,E6BCBD,"ceiling",8
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+290,A8771F,"floor",8
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+294,8A5A44,"wall",8
+295,BC155E,"ceiling under stairs",8
+296,DA0466,"wall",8
+297,0D943C,"wall",8
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+299,E5FAA3,"ceiling",9
+300,D06BF5,"wall",9
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+307,9FEA5D,"wall",9
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+309,29054D,"wall",9
+310,D3FDB0,"door frame",9
+311,9283A6,"poster",9
+312,2E3BB3,"door frame",9
+313,C362E3,"guitar",9
+314,BBF688,"guitar stand",9
+315,B5DCC7,"keyboard",9
+316,629B98,"keyboard stand",9
+317,DD03B0,"guitar",9
+318,5691A0,"guitar stand",9
+319,DA7BB4,"guitar",9
+320,F0521A,"guitar stand",9
+321,725DCF,"sofa",9
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+323,AB989B,"table",9
+324,82775C,"unknown",9
+325,DB298D,"unknown",9
+326,BD0A90,"window",9
+327,725B81,"armchair",9
+328,403476,"tv stand",9
+329,FEE278,"tv",9
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