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README.md

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+---
+license: cc-by-nc-4.0
+pretty_name: R3D-Bench
+configs:
+  - config_name: qa_annotations
+    default: true
+    data_files:
+      - split: test
+        path: data/qa_annotations/*.parquet
+  - config_name: gt_bboxes
+    data_files:
+      - split: test
+        path: data/gt_bboxes/*.parquet
+  - config_name: segmentations
+    data_files:
+      - split: test
+        path: data/segmentations/*.parquet
+  - config_name: meshes
+    data_files:
+      - split: test
+        path: data/meshes/*.parquet
+---
+
+# R3D-Bench
+
+R3D-Bench: a benchmark for quantitative 3D spatial reasoning from natural egocentric RGB-D video.
+3,033 question-answer annotations over 57 Aria Digital Twin (ADT) sequences. This is an
+**evaluation-only** benchmark — there is no training split; all data is in the `test` split.
+
+Note that project Aria video data must be downloaded separately. See full setup instructions in our [github repository](https://github.com/facebookresearch/r3d).
+
+## Configs
+
+- **qa_annotations** (default): one row per question. Fields include `question_text`,
+  `gt_answer`, `question_type`, `sequence_id`, spatial/temporal descriptions, and a nested
+  `referenced_objects` list. This is the benchmark you evaluate against.
+- **segmentations**: per-frame SAM3 masks (RLE) tracking relevant objects in the scene. Used in R3D-Bench evaluations for most methodologies. These are optional, but useful.
+- **meshes**: per-object SAM3D reconstructed meshes with the GLB geometry embedded (`glb` bytes),
+  used for evaluating the R3D methodology on R3D-Bench. They are available for use with other methodologies.
+- **gt_bboxes**: optional. Ground-truth oriented-box trajectories from ADT that the reference
+  answers were derived from. These are mainly for debugging. Evaluations do not use them.
+
+## Usage
+
+```python
+from datasets import load_dataset
+qa = load_dataset("facebook/r3d-bench", "qa_annotations", split="test")
+```
+
+## Source video
+
+The RGB-D frames are not redistributed here. Obtain the ADT sequences from
+https://www.projectaria.com/datasets/adt/ and extract frames as described in the R3D code repo.
+
+## License
+
+Derived from the Aria Digital Twin (ADT) dataset; use is subject to the ADT license/terms.

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