kcz358/SUNRGBD-3D · Datasets at Hugging Face

scene_id stringlengths 7 69	scene_path stringlengths 27 109	image_width int32 561 730	image_height int32 427 531	categories listlengths 1 18	bboxes_3d listlengths 1 117	labels listlengths 1 117
NYU1235	SUNRGBD/kv1/NYUdata/NYU1235	561	427	[ "endtable", "shelf", "sofa", "wall" ]	[ [ -1.4391865730285645, 0.3127281963825226, 3.247802495956421, 0.7461567521095276, 1.8761768341064453, 0.004426731262356043, 0, 0, -0.3088797628879547 ], [ -1.0561912059783936, 0.3181518614292145, 3.2245049476623535, 0.028397757560014725, 1.8654953241348267...	[ "wall", "wall", "wall", "wall", "wall", "wall", "wall", "wall", "endtable", "sofa", "wall", "wall", "wall", "wall", "wall", "wall", "wall", "shelf" ]
NYU0454	SUNRGBD/kv1/NYUdata/NYU0454	561	427	[ "chair", "computer", "desk", "fax", "garbage_bin", "kitchen_cabinet", "organizer", "printer", "scanner", "telephone" ]	[ [ -0.11977633833885193, 0.8875001668930054, 2.268676996231079, 0.7412514686584473, 1.1125001907348633, 0.7264541983604431, 0, 0, -1.7565149068832397 ], [ -0.9054986834526062, 0.6250001192092896, 2.064077854156494, 0.3394172191619873, 0.13750001788139343, ...	[ "chair", "scanner", "organizer", "fax", "computer", "printer", "telephone", "kitchen_cabinet", "garbage_bin", "desk" ]
NYU0068	SUNRGBD/kv1/NYUdata/NYU0068	561	427	[ "box", "dresser", "dvdplayer", "shelf", "tv", "wall" ]	[ [ -1.1291080713272095, 0.09953440725803375, 1.891542673110962, 0.008725650608539581, 1.9272047281265259, 0.6107706427574158, 0, 0, -0.38793426752090454 ], [ -0.8619219064712524, 0.10068307816982269, 2.1063733100891113, 0.34082043170928955, 1.92490744590759...	[ "wall", "wall", "wall", "wall", "dresser", "tv", "box", "dvdplayer", "shelf" ]
NYU1162	SUNRGBD/kv1/NYUdata/NYU1162	561	427	[ "box", "dresser", "night_stand", "wall" ]	[ [ -0.5874983668327332, 0.4486055076122284, 1.9428390264511108, 0.042450565844774246, 1.8879281282424927, 2.304706573486328, 0, 0, -0.03801800683140755 ], [ 0.5270398855209351, 0.40775659680366516, 2.9931747913360596, 2.181619882583618, 1.8912980556488037, ...	[ "wall", "wall", "dresser", "box", "night_stand", "box" ]
NYU0634	SUNRGBD/kv1/NYUdata/NYU0634	561	427	[ "back_pack", "chair", "desk", "monitor", "person", "shelf", "teddybear" ]	[ [ -1.2592309713363647, 0.8375000953674316, 2.691793441772461, 0.6816973686218262, 0.9375000596046448, 0.7943888306617737, 0, 0, -2.936876058578491 ], [ 0.4004054069519043, 0.7937500476837158, 2.710087776184082, 0.6485127210617065, 1.0250000953674316, 0...	[ "chair", "chair", "desk", "teddybear", "desk", "monitor", "back_pack", "desk", "monitor", "desk", "desk", "shelf", "monitor", "person", "person" ]
NYU0986	SUNRGBD/kv1/NYUdata/NYU0986	561	427	[ "bed", "bookshelf", "box", "chair", "lamp", "pillow", "stool", "table" ]	[ [ 0.321223646402359, 1.0056700706481934, 2.0562124252319336, 1.0422016382217407, 0.8006812930107117, 1.724537968635559, 0, 0, 3.071423292160034 ], [ 0.6920496225357056, 0.413274347782135, 2.2199103832244873, 0.8148563504219055, 0.4516543745994568, 0.38...	[ "bed", "pillow", "pillow", "lamp", "box", "stool", "table", "chair", "bookshelf" ]
NYU0413	SUNRGBD/kv1/NYUdata/NYU0413	561	427	[ "box", "kitchen_cabinet", "kitchen_counter", "papertowel", "sink" ]	[ [ -0.9062495827674866, 0.4000001847743988, 2.093749523162842, 0.5126523375511169, 0.5125001072883606, 0.5251486897468567, 0, 0, -0.02438528649508953 ], [ -0.4312496483325958, 0.3125001788139343, 2.268749713897705, 0.17499998211860657, 0.3875000476837158, ...	[ "sink", "papertowel", "box", "box", "box", "box", "papertowel", "kitchen_counter", "kitchen_cabinet" ]
NYU0755	SUNRGBD/kv1/NYUdata/NYU0755	561	427	[ "cabinet", "door", "kitchen_counter", "stove", "table", "wall" ]	[ [ 0.5573035478591919, 0.29919683933258057, 3.904574394226074, 1.6647461652755737, 2.4661614894866943, 0.008311811834573746, 0, 0, -2.64095139503479 ], [ 1.261099100112915, 0.2798652648925781, 4.291548252105713, 0.05862726643681526, 2.4274983406066895, ...	[ "wall", "wall", "wall", "wall", "door", "cabinet", "table", "kitchen_counter", "stove" ]
NYU0143	SUNRGBD/kv1/NYUdata/NYU0143	561	427	[ "bottle", "dishwasher", "jam", "kitchen_cabinet", "kitchen_counter", "kitchenutensils", "sink", "spoonholder" ]	[ [ -1.0829626321792603, -0.38125017285346985, 0.8870224356651306, 1.291442632675171, 0.6750001311302185, 0.3127315640449524, 0, 0, -1.5416783094406128 ], [ -0.9125003814697266, 0.3468749523162842, 1.162500023841858, 0.6500000357627869, 0.39375007152557373, ...	[ "kitchen_cabinet", "sink", "kitchenutensils", "kitchen_counter", "kitchen_counter", "bottle", "bottle", "spoonholder", "jam", "dishwasher" ]
NYU0082	SUNRGBD/kv1/NYUdata/NYU0082	561	427	[ "bed", "books", "dresser", "suits_case", "wall" ]	[ [ -0.6493527889251709, 0.24674473702907562, 1.715785026550293, 0.07693032920360565, 1.925968050956726, 1.6702460050582886, 0, 0, -0.11788428574800491 ], [ 0.3607047200202942, 0.20176951587200165, 2.4245479106903076, 1.91093909740448, 1.9790116548538208, ...	[ "wall", "wall", "dresser", "bed", "books", "suits_case" ]
NYU0638	SUNRGBD/kv1/NYUdata/NYU0638	561	427	[ "chair", "desk", "keyboard", "monitor", "shelf", "tissuebox" ]	[ [ 0.16486530005931854, 0.8874999284744263, 1.7024697065353394, 0.6588956117630005, 0.9124999642372131, 0.7224953770637512, 0, 0, 2.140428066253662 ], [ -0.6437498927116394, 0.41874992847442627, 2.4125006198883057, 0.6033759713172913, 0.42499998211860657, ...	[ "chair", "monitor", "keyboard", "desk", "tissuebox", "shelf" ]
NYU0216	SUNRGBD/kv1/NYUdata/NYU0216	561	427	[ "chair", "computer", "cups", "desk", "papers" ]	[ [ -0.5070106983184814, -0.10000000894069672, 1.69632089138031, 0.5387792587280273, 0.4375000596046448, 0.13806000351905823, 0, 0, 0.45554497838020325 ], [ 0.0188123919069767, -0.10625001043081284, 1.8591160774230957, 0.5648667216300964, 0.4750000536441803,...	[ "computer", "computer", "cups", "desk", "chair", "papers" ]
NYU1232	SUNRGBD/kv1/NYUdata/NYU1232	561	427	[ "endtable", "sofa_chair", "tv", "tv_stand", "wall" ]	[ [ -1.8570061922073364, 0.5671897530555725, 4.08480978012085, 1.6481194496154785, 1.774685263633728, 0.019873062148690224, 0, 0, -2.3904170989990234 ], [ 0.0349850170314312, 0.5722734928131104, 3.1606857776641846, 0.06405796855688095, 1.7645176649093628, ...	[ "wall", "wall", "sofa_chair", "sofa_chair", "tv", "endtable", "tv", "tv_stand" ]
NYU0517	SUNRGBD/kv1/NYUdata/NYU0517	561	427	[ "bed", "bookshelf", "desk", "wall" ]	[ [ -0.8447624444961548, 0.5087316036224365, 1.9263654947280884, 0.03663281351327896, 1.8351491689682007, 2.5055465698242188, 0, 0, 0.10289633274078369 ], [ 0.407408744096756, 0.5326537489891052, 3.3008720874786377, 2.7995707988739014, 1.8828579187393188, ...	[ "wall", "wall", "bed", "desk", "bookshelf" ]
NYU0592	SUNRGBD/kv1/NYUdata/NYU0592	561	427	[ "box", "cabinet", "coffee_table", "endtable", "sofa_chair", "wall" ]	[ [ 0.19647815823554993, 0.37962305545806885, 2.8767218589782715, 2.8093979358673096, 1.9075382947921753, 0.006798274349421263, 0, 0, -0.7505275011062622 ], [ -1.4583978652954102, 0.348892480134964, 3.0661520957946777, 0.04630325362086296, 1.8454371690750122...	[ "wall", "wall", "coffee_table", "endtable", "box", "sofa_chair", "cabinet" ]
NYU0155	SUNRGBD/kv1/NYUdata/NYU0155	561	427	[ "box", "garbage_bin", "laptop", "stove" ]	[ [ 1.7374770641326904, 1.0187500715255737, 1.6624778509140015, 0.47499367594718933, 0.3750000298023224, 0.18749752640724182, 0, 0, -1.5707963705062866 ], [ 2.3739590644836426, 0.8812500834465027, 1.7490102052688599, 0.3645143210887909, 0.6250000596046448, ...	[ "box", "garbage_bin", "garbage_bin", "stove", "laptop" ]
NYU0305	SUNRGBD/kv1/NYUdata/NYU0305	561	427	[ "chair", "desk", "person" ]	[ [ 0.5595805048942566, 0.949999988079071, 2.4299747943878174, 0.7543014287948608, 0.6625000238418579, 0.5638018250465393, 0, 0, -3.0841426849365234 ], [ 0.5312385559082031, 0.9624999761581421, 2.131204128265381, 0.4376690983772278, 0.637499988079071, 0....	[ "desk", "chair", "desk", "desk", "chair", "desk", "chair", "desk", "chair", "person", "person", "person" ]
NYU0794	SUNRGBD/kv1/NYUdata/NYU0794	561	427	[ "chair", "table", "wall" ]	[ [ -1.305052638053894, 0.1199084222316742, 6.463680267333984, 3.527033805847168, 2.137362480163574, 0.026353592053055763, 0, 0, 1.7813160419464111 ], [ -0.8410144448280334, 0.21474933624267578, 4.73301362991333, 0.3174917697906494, 1.9674296379089355, 0...	[ "wall", "wall", "wall", "wall", "wall", "table", "chair", "chair", "chair", "chair", "chair" ]
NYU1164	SUNRGBD/kv1/NYUdata/NYU1164	561	427	[ "bed", "laundrybasket", "wall" ]	[ [ -1.4374945163726807, 0.9713784456253052, 0.8675657510757446, 1.3254917860031128, 0.7084540128707886, 2.0833053588867188, 0, 0, 2.087672472000122 ], [ -0.6964305639266968, 0.7073853611946106, 2.3041954040527344, 1.3250731229782104, 1.2409212589263916, ...	[ "bed", "wall", "wall", "laundrybasket", "laundrybasket" ]
NYU0441	SUNRGBD/kv1/NYUdata/NYU0441	561	427	[ "chair", "table", "wall" ]	[ [ 0.09601804614067078, 0.2895583510398865, 2.519850015640259, 0.0060818614438176155, 2.4564414024353027, 2.9208853244781494, 0, 0, -2.5124850273132324 ], [ 0.47857075929641724, 1.0894173383712769, 1.6627345085144043, 0.38619497418403625, 0.851007878780365,...	[ "wall", "table", "table", "chair", "chair", "chair" ]
NYU0154	SUNRGBD/kv1/NYUdata/NYU0154	561	427	[ "desk", "door", "wall" ]	[ [ 0.02147980034351349, 0.13280391693115234, 2.4009757041931152, 2.347496509552002, 2.028285264968872, 0.01921016164124012, 0, 0, -2.933241605758667 ], [ 1.281241774559021, 0.12814229726791382, 2.1075186729431152, 0.003880521049723029, 2.0341193675994873, ...	[ "wall", "wall", "door", "desk" ]
NYU0449	SUNRGBD/kv1/NYUdata/NYU0449	561	427	[ "cabinet", "printer", "roller", "table" ]	[ [ -0.35319581627845764, 0.9374997615814209, 1.9484400749206543, 0.9632096886634827, 0.7874997854232788, 0.9666152596473694, 0, 0, -0.045423299074172974 ], [ -0.34398359060287476, 0.3999999165534973, 1.9315019845962524, 0.9103479981422424, 0.287499934434890...	[ "table", "printer", "table", "printer", "cabinet", "roller", "roller" ]
NYU0570	SUNRGBD/kv1/NYUdata/NYU0570	561	427	[ "fridge", "island", "microwave", "stool", "stove", "wall" ]	[ [ -0.14434148371219635, 0.359421968460083, 2.7757885456085205, 2.575654983520508, 2.0303211212158203, 0.0152704743668437, 0, 0, -2.6419801712036133 ], [ 1.435028076171875, 0.35672298073768616, 2.5626823902130127, 0.015492294915020466, 2.024923086166382, ...	[ "wall", "wall", "stool", "island", "fridge", "microwave", "stove" ]
NYU1281	SUNRGBD/kv1/NYUdata/NYU1281	561	427	[ "pianobench", "sofa", "table", "wall" ]	[ [ -2.1379234790802, 0.08643628656864166, 3.233966588973999, 0.08819151669740677, 2.7114977836608887, 4.24983024597168, 0, 0, 0.13219350576400757 ], [ -0.7245953679084778, -0.015644164755940437, 5.4019622802734375, 3.4502005577087402, 2.692807912826538, ...	[ "wall", "wall", "wall", "wall", "sofa", "sofa", "table", "pianobench" ]
NYU1096	SUNRGBD/kv1/NYUdata/NYU1096	561	427	[ "bed", "night_stand", "pillow", "wall" ]	[ [ -0.8067433834075928, 0.28675058484077454, 2.683042049407959, 0.07957011461257935, 1.4602128267288208, 2.1861443519592285, 0, 0, -0.6687774062156677 ], [ 0.7207129597663879, 0.3205687999725342, 2.852269411087036, 2.2663984298706055, 1.5278493165969849, ...	[ "wall", "wall", "bed", "pillow", "pillow", "pillow", "pillow", "pillow", "night_stand" ]
NYU1319	SUNRGBD/kv1/NYUdata/NYU1319	561	427	[ "box", "drawer", "night_stand", "tv", "wall" ]	[ [ -1.010272741317749, 0.4470469653606415, 2.484574794769287, 0.01485965121537447, 1.6718233823776245, 1.4398645162582397, 0, 0, -0.7167481780052185 ], [ 0.24048464000225067, 0.4535658061504364, 2.239793539047241, 2.228252649307251, 1.6587857007980347, ...	[ "wall", "wall", "tv", "box", "drawer", "night_stand" ]
NYU0629	SUNRGBD/kv1/NYUdata/NYU0629	561	427	[ "basket", "bookshelf", "cabinet", "calendar", "chair", "desk", "wall" ]	[ [ 1.0457608699798584, 0.5800259113311768, 1.6839990615844727, 2.484107732772827, 1.4969942569732666, 0.00828020740300417, 0, 0, 1.317402958869934 ], [ -0.32211825251579285, 0.5611406564712524, 3.3247106075286865, 3.479336738586426, 1.4902186393737793, ...	[ "wall", "wall", "desk", "chair", "chair", "basket", "cabinet", "calendar", "bookshelf" ]
NYU0455	SUNRGBD/kv1/NYUdata/NYU0455	561	427	[ "chair", "computer", "desk", "garbage_bin", "wall" ]	[ [ 0.46575841307640076, 0.6776519417762756, 3.961273193359375, 0.03664335981011391, 1.5630687475204468, 0.7157038450241089, 0, 0, -2.414053201675415 ], [ 0.9885972142219543, 0.6739967465400696, 3.9640586376190186, 0.8212350606918335, 1.5703791379928589, ...	[ "wall", "wall", "wall", "wall", "desk", "desk", "desk", "chair", "chair", "garbage_bin", "computer" ]
NYU0568	SUNRGBD/kv1/NYUdata/NYU0568	561	427	[ "blender", "dishwasher", "garbage_bin", "kitchen_counter", "person", "pot", "stove" ]	[ [ 0.8628397583961487, 1.087499976158142, 1.3338345289230347, 0.3365410268306732, 0.512499988079071, 0.44292277097702026, 0, 0, -1.8417432308197021 ], [ 2.6488499641418457, 0.918749988079071, 1.4549788236618042, 0.5499165654182434, 0.8500000238418579, 0...	[ "garbage_bin", "dishwasher", "stove", "blender", "pot", "kitchen_counter", "person" ]
NYU0212	SUNRGBD/kv1/NYUdata/NYU0212	561	427	[ "basket", "bowl", "plate", "shelf", "table" ]	[ [ -0.7147329449653625, 0.9500001072883606, 1.047447681427002, 1.2178139686584473, 0.7375000715255737, 0.717635989189148, 0, 0, -1.9128581285476685 ], [ -0.03630191087722778, -0.07500001043081284, 1.7881903648376465, 0.3517807424068451, 0.16250000894069672,...	[ "table", "basket", "bowl", "plate", "shelf" ]
NYU1442	SUNRGBD/kv1/NYUdata/NYU1442	561	427	[ "chair", "painting", "table" ]	[ [ -0.5937497019767761, 0.84375, 1.5999993085861206, 0.5624997615814209, 0.925000011920929, 0.5624997615814209, 0, 0, -1.5707963705062866 ], [ -0.5187497735023499, 0.8375000357627869, 2.2499990463256836, 0.5811437368392944, 0.9375, 0.5577176213264465, ...	[ "chair", "chair", "chair", "chair", "painting", "painting", "table" ]
NYU1387	SUNRGBD/kv1/NYUdata/NYU1387	561	427	[ "cabinet", "chair", "piano", "pianobench", "table" ]	[ [ -0.7750000357627869, 0.6000000238418579, 2.6312503814697266, 1.46255362033844, 1.0625001192092896, 0.625, 0, 0, -1.5793430805206299 ], [ -0.5267045497894287, 0.8875000476837158, 2.7119321823120117, 0.8488637208938599, 0.5125000476837158, 0.3715909123...	[ "piano", "pianobench", "table", "cabinet", "chair", "chair", "chair" ]
NYU1406	SUNRGBD/kv1/NYUdata/NYU1406	561	427	[ "chair", "table", "wall" ]	[ [ -1.481013298034668, -0.5166009068489075, 4.436219692230225, 0.17160005867481232, 3.199294090270996, 4.212899208068848, 0, 0, -0.6516953706741333 ], [ 0.13017040491104126, -0.7691923379898071, 5.604949951171875, 1.3004769086837769, 2.6941113471984863, ...	[ "wall", "wall", "wall", "wall", "wall", "wall", "wall", "table", "chair", "chair", "chair" ]
NYU0561	SUNRGBD/kv1/NYUdata/NYU0561	561	427	[ "bowl", "kitchen_cabinet", "kitchen_counter", "mug", "organizer", "plasticcup", "plate", "sink", "tray" ]	[ [ 0.6242977976799011, 0.40625038743019104, 0.7448734045028687, 0.26013246178627014, 0.05000000819563866, 0.24117057025432587, 0, 0, 0.09495154023170471 ], [ 1.5062501430511475, 0.4312506914138794, 0.9312496185302734, 0.8631595969200134, 0.4250001013278961,...	[ "plate", "sink", "organizer", "plasticcup", "bowl", "mug", "kitchen_counter", "tray", "kitchen_cabinet", "kitchen_cabinet" ]
NYU1433	SUNRGBD/kv1/NYUdata/NYU1433	561	427	[ "chair", "table", "wall" ]	[ [ 1.4294843673706055, -0.23794865608215332, 4.99929141998291, 0.09443624317646027, 3.024712085723877, 3.434769868850708, 0, 0, -2.2210512161254883 ], [ -0.15631623566150665, -0.2580040693283081, 5.706552982330322, 0.888562798500061, 2.9846014976501465, ...	[ "wall", "wall", "table", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "wall", "wall", "wall" ]
NYU1202	SUNRGBD/kv1/NYUdata/NYU1202	561	427	[ "pillow", "sofa", "wall" ]	[ [ 0.27378329634666443, 0.3485868573188782, 3.03892183303833, 3.621999979019165, 1.8782843351364136, 0.038463044911623, 0, 0, -2.8746957778930664 ], [ -0.2690352499485016, 0.8375657796859741, 2.256946086883545, 2.1089630126953125, 0.8457016944885254, 0....	[ "wall", "sofa", "pillow", "pillow", "pillow" ]
NYU0846	SUNRGBD/kv1/NYUdata/NYU0846	561	427	[ "blender", "kitchen_cabinet", "kitchen_counter", "papertowel", "ricecooker" ]	[ [ -0.8750000596046448, 0.7874999046325684, 1.0437496900558472, 1.7810250520706177, 0.8624997735023499, 0.6987563371658325, 0, 0, -1.522799015045166 ], [ -1.024999976158142, 0.20000003278255463, 1.081249713897705, 0.3874998688697815, 0.3124999403953552, ...	[ "kitchen_counter", "papertowel", "ricecooker", "blender", "kitchen_cabinet" ]
NYU0687	SUNRGBD/kv1/NYUdata/NYU0687	561	427	[ "bathmat", "bathroomvanity", "sink" ]	[ [ -2.0805246829986572, 0.5667614340782166, 1.7748574018478394, 0.5352697372436523, 0.37897732853889465, 0.4302794933319092, 0, 0, -1.5363272428512573 ], [ -0.8999802470207214, 1.4187501668930054, 2.249950885772705, 0.6751009225845337, 0.07500001043081284, ...	[ "sink", "bathmat", "bathroomvanity" ]
NYU0890	SUNRGBD/kv1/NYUdata/NYU0890	561	427	[ "island", "kitchen_cabinet", "kitchen_counter", "papers", "plant", "stool" ]	[ [ -0.9847772121429443, 0.8614581823348999, 1.8955727815628052, 0.5501216650009155, 0.6770836114883423, 0.4251680374145508, 0, 0, -0.7083384990692139 ], [ -1.4130346775054932, 0.8489581942558289, 2.408267021179199, 0.39229434728622437, 0.7020835876464844, ...	[ "stool", "stool", "island", "papers", "plant", "kitchen_cabinet", "kitchen_counter" ]
NYU0175	SUNRGBD/kv1/NYUdata/NYU0175	561	427	[ "alarm", "blinds", "box", "dresser", "furnace", "picture", "wall" ]	[ [ -0.6632768511772156, 0.0914260670542717, 1.268301248550415, 0.0051802112720906734, 2.1805636882781982, 0.8983890414237976, 0, 0, -0.38624224066734314 ], [ -0.5998277068138123, 0.09352567046880722, 1.7220511436462402, 0.22563950717449188, 2.17702865600585...	[ "wall", "wall", "wall", "wall", "wall", "wall", "wall", "wall", "dresser", "box", "alarm", "picture", "furnace", "blinds" ]
NYU1102	SUNRGBD/kv1/NYUdata/NYU1102	561	427	[ "bed", "bookshelf", "box", "chair", "desk", "door", "mattress", "pillow", "recliner", "wall" ]	[ [ -1.3372102975845337, 0.4368872046470642, 2.9190847873687744, 0.061533309519290924, 1.7580013275146484, 2.471508502960205, 0, 0, -0.39960452914237976 ], [ 0.3602076470851898, 0.4896005392074585, 3.532895088195801, 2.701117753982544, 1.8243408203125, 0...	[ "wall", "wall", "bed", "pillow", "recliner", "door", "box", "box", "desk", "chair", "mattress", "bookshelf" ]
NYU1132	SUNRGBD/kv1/NYUdata/NYU1132	561	427	[ "chair", "table", "tv", "wall" ]	[ [ -0.6771252155303955, 0.22137299180030823, 3.4482228755950928, 2.315403938293457, 2.3216583728790283, 0.01916980743408203, 0, 0, 0.09108074009418488 ], [ 0.053851861506700516, 1.0043370723724365, 2.758448600769043, 1.4374865293502808, 0.7223811149597168, ...	[ "wall", "table", "chair", "tv", "wall" ]
NYU0348	SUNRGBD/kv1/NYUdata/NYU0348	561	427	[ "chessset", "pillow", "sofa_chair", "workoutequipment" ]	[ [ 0.37958672642707825, 0.6986637711524963, 2.094696521759033, 0.3432468771934509, 0.3030814528465271, 0.1947731077671051, 0, 0, -2.917372941970825 ], [ 0.43082302808761597, 0.8122159242630005, 2.0814497470855713, 0.9993341565132141, 0.7755680680274963, ...	[ "pillow", "sofa_chair", "chessset", "workoutequipment", "workoutequipment" ]
NYU0490	SUNRGBD/kv1/NYUdata/NYU0490	561	427	[ "box", "cabinet", "ceiling", "chair", "plasticbin", "table", "wall" ]	[ [ 2.5212836265563965, 0.4747387170791626, 6.084231376647949, 2.0050647258758545, 1.9062902927398682, 0.03328511491417885, 0, 0, -0.5554274320602417 ], [ -1.0333389043807983, 0.5181843638420105, 4.185358047485352, 4.092503547668457, 1.9166957139968872, ...	[ "wall", "wall", "box", "table", "chair", "chair", "ceiling", "wall", "cabinet", "cabinet", "plasticbin" ]
NYU0079	SUNRGBD/kv1/NYUdata/NYU0079	561	427	[ "bed", "book", "lamp", "night_stand", "pillow", "table", "wall" ]	[ [ -2.0076773166656494, 0.2947666645050049, 3.3486671447753906, 0.005867734085768461, 1.7874122858047485, 0.7373481392860413, 0, 0, -0.5424021482467651 ], [ -0.3283495008945465, 0.2928445041179657, 2.7524280548095703, 3.497878074645996, 1.7835679054260254, ...	[ "wall", "wall", "night_stand", "bed", "pillow", "pillow", "book", "table", "lamp" ]
NYU0135	SUNRGBD/kv1/NYUdata/NYU0135	561	427	[ "box", "counter", "kitchen_cabinet", "oil", "pitcher", "sink", "spicerack", "tray", "wall" ]	[ [ 0.4021189510822296, -0.10534435510635376, 2.192734718322754, 1.4367291927337646, 2.2481887340545654, 0.02352723479270935, 0, 0, -0.3568565249443054 ], [ -0.5534986853599548, -0.11159435659646988, 1.6722413301467896, 0.016530213877558708, 2.23568892478942...	[ "wall", "wall", "oil", "pitcher", "tray", "box", "spicerack", "sink", "counter", "kitchen_cabinet" ]
NYU0222	SUNRGBD/kv1/NYUdata/NYU0222	561	427	[ "bed", "box", "drawer", "garbage_bin", "lamp", "mirror", "person", "picture", "rug", "shelf", "table" ]	[ [ -1.4398157596588135, 0.887499988079071, 3.1069679260253906, 0.4928797781467438, 0.737500011920929, 0.42391225695610046, 0, 0, -1.425398826599121 ], [ -1.4040406942367554, 0.08124999701976776, 3.1089017391204834, 0.41248819231987, 0.875, 0.44998711347...	[ "table", "lamp", "garbage_bin", "rug", "shelf", "drawer", "box", "picture", "bed", "mirror", "person" ]
NYU0850	SUNRGBD/kv1/NYUdata/NYU0850	561	427	[ "kitchen_counter", "microwave", "shelf", "stool" ]	[ [ 0.9812214970588684, 0.9187501668930054, 1.4122411012649536, 0.43878158926963806, 0.9500001668930054, 0.4898347854614258, 0, 0, -2.258467435836792 ], [ 1.0383940935134888, 0.9187501668930054, 2.211697816848755, 0.4460442364215851, 0.9750001430511475, ...	[ "stool", "stool", "stool", "stool", "kitchen_counter", "shelf", "microwave" ]
NYU0848	SUNRGBD/kv1/NYUdata/NYU0848	561	427	[ "box", "kitchen_cabinet", "kitchen_counter", "sink" ]	[ [ -0.8588207364082336, -0.3395836055278778, 1.8091154098510742, 0.651016116142273, 0.6750000715255737, 0.38826698064804077, 0, 0, -2.2903525829315186 ], [ 0.5685790181159973, -0.3395836055278778, 3.4205634593963623, 1.1499536037445068, 0.6750000715255737, ...	[ "kitchen_cabinet", "kitchen_cabinet", "kitchen_cabinet", "kitchen_counter", "box", "sink" ]
NYU1276	SUNRGBD/kv1/NYUdata/NYU1276	561	427	[ "box", "coffee_table", "door", "pillow", "sofa", "wall" ]	[ [ -1.4960205554962158, -0.24892236292362213, 3.0206899642944336, 0.1246546059846878, 3.3632938861846924, 4.291735649108887, 0, 0, 0.2520853281021118 ], [ -0.04059446603059769, -0.18679465353488922, 5.524148941040039, 4.1901021003723145, 3.2390384674072266,...	[ "wall", "wall", "wall", "coffee_table", "box", "door", "sofa", "box", "pillow", "pillow", "sofa" ]
NYU0966	SUNRGBD/kv1/NYUdata/NYU0966	561	427	[ "bed", "painting", "shelf" ]	[ [ -0.6364010572433472, -0.04166698083281517, 2.6413819789886475, 0.33772850036621094, 0.5958331227302551, 0.15051865577697754, 0, 0, 0.215956449508667 ], [ 0.01747852750122547, -0.07291697710752487, 2.8358659744262695, 0.7502273917198181, 0.541666746139526...	[ "painting", "painting", "painting", "bed", "shelf", "shelf" ]
NYU1035	SUNRGBD/kv1/NYUdata/NYU1035	561	427	[ "bed", "box", "dresser", "pillow", "wall" ]	[ [ 0.3307085335254669, 0.4284200966358185, 2.978445053100586, 3.4879770278930664, 1.9419599771499634, 0.0232602097094059, 0, 0, -2.768824815750122 ], [ 1.531375765800476, 0.8487924933433533, 2.7188186645507812, 1.113187551498413, 0.9888705015182495, 1.3...	[ "wall", "bed", "pillow", "dresser", "pillow", "box" ]
NYU0680	SUNRGBD/kv1/NYUdata/NYU0680	561	427	[ "shower", "sink", "toilet", "wall" ]	[ [ 0.7064079642295837, 0.7271263599395752, 1.1543394327163696, 0.9890618324279785, 1.310508370399475, 0.026165524497628212, 0, 0, -2.3547556400299072 ], [ 0.009589113295078278, 0.6905142664909363, 2.3909194469451904, 2.4607224464416504, 1.331471562385559, ...	[ "wall", "wall", "toilet", "shower", "sink" ]
NYU1220	SUNRGBD/kv1/NYUdata/NYU1220	561	427	[ "bookshelf", "sofa", "stroller", "toyhouse" ]	[ [ 1.0506237745285034, 1.2312500476837158, 2.724233865737915, 0.32559946179389954, 0.550000011920929, 0.4150026738643646, 0, 0, -0.031239833682775497 ], [ 1.4186506271362305, 1.1749999523162842, 2.6435647010803223, 0.39997196197509766, 0.6625000238418579, ...	[ "stroller", "stroller", "toyhouse", "bookshelf", "sofa" ]
NYU0856	SUNRGBD/kv1/NYUdata/NYU0856	561	427	[ "chair", "kitchen_counter", "kitchen_sink", "phone", "tissueroll" ]	[ [ 0.7082417607307434, 0.5295516848564148, 2.6616005897521973, 0.5419051051139832, 0.7817538976669312, 0.40375804901123047, 0, 0, 3.094841241836548 ], [ 0.12503473460674286, 0.5257383584976196, 2.7094876766204834, 0.47246524691581726, 0.7813793420791626, ...	[ "chair", "chair", "chair", "chair", "chair", "phone", "tissueroll", "kitchen_sink", "kitchen_counter" ]
NYU1071	SUNRGBD/kv1/NYUdata/NYU1071	561	427	[ "bed", "nightstand", "pillow", "wall" ]	[ [ -1.6884758472442627, 0.4902280271053314, 4.160892963409424, 0.01564578153192997, 1.5809061527252197, 2.720259189605713, 0, 0, -0.6857381463050842 ], [ 0.643040657043457, 0.4748375117778778, 4.002768039703369, 3.8246870040893555, 1.5501251220703125, 0...	[ "wall", "wall", "bed", "nightstand", "pillow", "pillow", "pillow", "nightstand" ]
NYU0781	SUNRGBD/kv1/NYUdata/NYU0781	561	427	[ "chair", "counter", "door", "table", "wall" ]	[ [ 1.813677430152893, 0.640685498714447, 5.275632381439209, 2.508230686187744, 1.406129002571106, 0.08053072541952133, 0, 0, -0.5325143933296204 ], [ -0.8992469906806946, 0.5333306789398193, 4.845241069793701, 6.9894585609436035, 1.6958385705947876, 0.0...	[ "wall", "wall", "table", "counter", "chair", "chair", "chair", "chair", "chair", "chair", "door", "chair" ]
NYU0322	SUNRGBD/kv1/NYUdata/NYU0322	561	427	[ "art_board", "board", "box", "chair", "desk", "rack", "shelf", "table", "toy" ]	[ [ 0.4749782681465149, 0.875, 4.54354190826416, 0.8624605536460876, 0.9125000238418579, 0.38748225569725037, 0, 0, 0 ], [ 1.6124261617660522, 0.925000011920929, 0.9374570846557617, 0.9999542236328125, 0.887499988079071, 0.4124811291694641, 0, 0,...	[ "shelf", "shelf", "chair", "chair", "table", "chair", "chair", "chair", "chair", "chair", "rack", "rack", "shelf", "box", "toy", "desk", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "art_board", "board" ]
NYU0391	SUNRGBD/kv1/NYUdata/NYU0391	561	427	[ "bag", "cabinet", "desk", "diploma", "sofa_chair", "stuffed_toy" ]	[ [ 0.47108006477355957, 0.8258523941040039, 1.2317737340927124, 0.9253178238868713, 1.05170476436615, 0.975299596786499, 0, 0, -2.3673641681671143 ], [ -1.1930228471755981, 0.970454752445221, 1.7328788042068481, 1.9493379592895508, 0.7875000834465027, 0...	[ "sofa_chair", "desk", "diploma", "diploma", "bag", "stuffed_toy", "diploma", "cabinet" ]
NYU0976	SUNRGBD/kv1/NYUdata/NYU0976	561	427	[ "bed", "painting", "pillow" ]	[ [ -0.3878929018974304, 0.810419499874115, 2.8799188137054443, 1.800378680229187, 1.1133393049240112, 2.352534294128418, 0, 0, -2.3697381019592285 ], [ -1.1351531744003296, 0.5394713282585144, 3.1562445163726807, 0.7972321510314941, 0.19595706462860107, ...	[ "bed", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "painting" ]
NYU0721	SUNRGBD/kv1/NYUdata/NYU0721	561	427	[ "bathroomvanity", "cup", "sink" ]	[ [ 0.7173498272895813, 0.40596577525138855, 1.0892263650894165, 0.5922916531562805, 0.47556814551353455, 0.47267675399780273, 0, 0, 0.037020258605480194 ], [ 0.4250001013278961, 0.35312485694885254, 1.087499976158142, 0.08749999105930328, 0.1062499880790710...	[ "sink", "cup", "bathroomvanity" ]
NYU0816	SUNRGBD/kv1/NYUdata/NYU0816	561	427	[ "cabinet", "chair", "electricpot", "fridge", "island", "kitchen_cabinet", "kitchen_counter", "oven", "papertowelroll", "vase" ]	[ [ 0.4661252498626709, 0.800000011920929, 1.6426420211791992, 0.4824989140033722, 0.987500011920929, 0.5576262474060059, 0, 0, -0.6383197903633118 ], [ 1.0377217531204224, 0.800000011920929, 1.6998485326766968, 0.44942909479141235, 0.987500011920929, 0....	[ "chair", "chair", "chair", "chair", "vase", "island", "electricpot", "papertowelroll", "oven", "fridge", "cabinet", "kitchen_cabinet", "kitchen_cabinet", "kitchen_counter" ]
NYU0758	SUNRGBD/kv1/NYUdata/NYU0758	561	427	[ "bowl", "chair", "placemat", "shelf", "table" ]	[ [ -0.9708846211433411, 0.9000000357627869, 1.133632779121399, 0.6270964741706848, 1.0625, 0.7353302836418152, 0, 0, -0.840287983417511 ], [ -1.3558249473571777, 0.9125000238418579, 2.143131971359253, 0.6462903022766113, 1.0625, 0.7366752028465271, ...	[ "chair", "chair", "chair", "chair", "table", "bowl", "placemat", "shelf" ]
NYU1430	SUNRGBD/kv1/NYUdata/NYU1430	561	427	[ "cabinet", "chair", "table", "wall" ]	[ [ 0.022395748645067215, 0.24996531009674072, 3.069016933441162, 0.011180290021002293, 2.2666330337524414, 3.7593562602996826, 0, 0, -0.853525698184967 ], [ 2.004978656768799, 0.15388476848602295, 3.5683865547180176, 1.8485538959503174, 2.074471950531006, ...	[ "wall", "wall", "table", "chair", "cabinet" ]
NYU1239	SUNRGBD/kv1/NYUdata/NYU1239	561	427	[ "books", "chair", "coffee_table", "endtable", "ottoman", "shelf", "sofa", "sofa_chair", "table" ]	[ [ 2.2056338787078857, 0.9312499761581421, 1.991342306137085, 2.2377796173095703, 0.875, 0.9252552390098572, 0, 0, -0.014704822562634945 ], [ 0.42523202300071716, 0.925000011920929, 1.2322758436203003, 0.7645672559738159, 0.9125000238418579, 0.854365408...	[ "sofa", "sofa_chair", "endtable", "books", "sofa_chair", "ottoman", "coffee_table", "sofa_chair", "chair", "chair", "chair", "table", "shelf" ]
NYU0880	SUNRGBD/kv1/NYUdata/NYU0880	561	427	[ "chair", "figurine", "island", "kitchen_counter", "menu" ]	[ [ -0.7866549491882324, 0.8374999761581421, 1.0677958726882935, 0.5864409804344177, 0.9874999523162842, 0.5635453462600708, 0, 0, -0.041642580181360245 ], [ -0.06249687448143959, 0.8437499403953552, 1.0499476194381714, 0.5124743580818176, 0.9749999642372131...	[ "chair", "chair", "figurine", "kitchen_counter", "chair", "chair", "island", "menu" ]
NYU1315	SUNRGBD/kv1/NYUdata/NYU1315	561	427	[ "bookshelf", "chair", "door", "ottoman", "sofa", "table", "wall" ]	[ [ -0.03151632472872734, 1.1443349123001099, 1.829980731010437, 0.6102972030639648, 0.4537544250488281, 0.6386521458625793, 0, 0, -2.6080915927886963 ], [ -1.0949510335922241, 0.6687155961990356, 1.8422855138778687, 0.3825557231903076, 1.4702503681182861, ...	[ "table", "wall", "wall", "wall", "wall", "wall", "sofa", "wall", "chair", "door", "ottoman", "bookshelf" ]
NYU0913	SUNRGBD/kv1/NYUdata/NYU0913	561	427	[ "bed", "blinds", "box", "drawer", "picture", "pictures", "tray", "tv" ]	[ [ -1.9985897541046143, 1.0604164600372314, 2.4841322898864746, 1.596455693244934, 0.7749999761581421, 1.8865110874176025, 0, 0, -1.8254525661468506 ], [ -2.0817365646362305, 0.060416411608457565, 4.408495903015137, 0.9250792860984802, 1.524999976158142, ...	[ "bed", "blinds", "blinds", "tv", "box", "picture", "picture", "tray", "drawer", "pictures" ]
NYU1415	SUNRGBD/kv1/NYUdata/NYU1415	561	427	[ "chair", "table", "wall" ]	[ [ -0.4208207428455353, 0.020768284797668457, 3.243624448776245, 0.03221374377608299, 2.6869707107543945, 3.9689385890960693, 0, 0, -0.5770914554595947 ], [ 1.2325619459152222, -0.040657877922058105, 4.490649700164795, 1.4263774156570435, 2.590268611907959,...	[ "wall", "wall", "wall", "wall", "wall", "table", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair" ]
NYU1432	SUNRGBD/kv1/NYUdata/NYU1432	561	427	[ "cabinet", "chair", "table", "wall" ]	[ [ -2.0781407356262207, -0.20460915565490723, 5.384263038635254, 0.08776286244392395, 2.904357433319092, 4.180088996887207, 0, 0, -2.3353681564331055 ], [ -0.2444208711385727, -0.1851346492767334, 4.310860633850098, 1.0604921579360962, 2.865408420562744, ...	[ "wall", "wall", "wall", "table", "chair", "chair", "chair", "chair", "chair", "cabinet" ]
NYU1264	SUNRGBD/kv1/NYUdata/NYU1264	561	427	[ "sofa_chair", "wall" ]	[ [ -0.22358454763889313, 0.3104845881462097, 2.6428568363189697, 2.3306591510772705, 1.7990022897720337, 0.022136522457003593, 0, 0, -2.64215350151062 ], [ 1.1883474588394165, 0.3008711338043213, 2.3362252712249756, 0.03326529636979103, 1.7797753810882568, ...	[ "wall", "wall", "sofa_chair", "sofa_chair", "sofa_chair" ]
NYU0849	SUNRGBD/kv1/NYUdata/NYU0849	561	427	[ "island", "kitchen_cabinet", "kitchen_counter", "stove", "toasteroven" ]	[ [ 0.42335525155067444, 0.9291664361953735, 2.2054967880249023, 3.5139873027801514, 0.8625000715255737, 2.7217061519622803, 0, 0, 0.10133414715528488 ], [ 0.5232262015342712, 0.4479164481163025, 3.367250919342041, 1.1625415086746216, 0.125, 0.5374881625...	[ "kitchen_counter", "stove", "toasteroven", "island", "kitchen_cabinet" ]
NYU0590	SUNRGBD/kv1/NYUdata/NYU0590	561	427	[ "cabinet", "sofa_chair", "wall" ]	[ [ -0.43578040599823, 0.11255989223718643, 3.672039747238159, 0.019591908901929855, 2.3870456218719482, 4.159846305847168, 0, 0, -0.5382842421531677 ], [ 1.5957067012786865, 0.04830632358789444, 4.765936851501465, 2.3688864707946777, 2.273131847381592, ...	[ "wall", "wall", "sofa_chair", "sofa_chair", "cabinet" ]
NYU0784	SUNRGBD/kv1/NYUdata/NYU0784	561	427	[ "fridge", "kitchen_cabinet", "kitchen_counter", "microwave", "potholder", "ricecooker", "stool", "stove", "tray" ]	[ [ 0.8616201281547546, 0.9500000476837158, 1.002694845199585, 0.7846826910972595, 1.037500023841858, 0.7854953408241272, 0, 0, -1.597530722618103 ], [ 1.010115623474121, 0.39375004172325134, 1.6680760383605957, 0.574714720249176, 0.30000001192092896, 0....	[ "stove", "microwave", "tray", "kitchen_counter", "kitchen_cabinet", "fridge", "kitchen_counter", "ricecooker", "stool", "potholder" ]
NYU0965	SUNRGBD/kv1/NYUdata/NYU0965	561	427	[ "bed", "dresser", "night_stand", "painting", "picture", "pillow", "recliner" ]	[ [ 1.0101755857467651, 0.9479163885116577, 1.6600472927093506, 1.7969549894332886, 0.824999988079071, 0.39152640104293823, 0, 0, 1.2089406251907349 ], [ 0.29364675283432007, 0.8565623760223389, 2.3996360301971436, 0.8577300310134888, 0.9327080845832825, ...	[ "dresser", "recliner", "night_stand", "pillow", "pillow", "pillow", "painting", "picture", "picture", "bed" ]
NYU0892	SUNRGBD/kv1/NYUdata/NYU0892	561	427	[ "books", "coffeemaker", "kitchen_cabinet", "kitchen_counter", "stove" ]	[ [ -0.6862673759460449, -0.3604170083999634, 2.5440704822540283, 1.591442584991455, 0.7083332538604736, 0.9096664190292358, 0, 0, 0.37350133061408997 ], [ -0.41601893305778503, 0.8916664719581604, 1.679748773574829, 2.6563079357147217, 0.9125000238418579, ...	[ "kitchen_cabinet", "kitchen_counter", "stove", "coffeemaker", "books" ]
NYU0260	SUNRGBD/kv1/NYUdata/NYU0260	561	427	[ "chair", "picture", "sofa", "table" ]	[ [ 0.03150666877627373, -0.7250000238418579, 2.911743640899658, 0.5770949721336365, 0.612500011920929, 0.11159294843673706, 0, 0, -0.328125 ], [ -0.9184367656707764, -0.23125000298023224, 3.1709232330322266, 0.4130079448223114, 0.375, 0.0853273272514343...	[ "picture", "picture", "table", "chair", "chair", "table", "sofa" ]
NYU0024	SUNRGBD/kv1/NYUdata/NYU0024	561	427	[ "ceiling", "cupboard", "emergencylight", "printer", "scanner", "shelf", "side_table", "wall" ]	[ [ -0.75725919008255, -0.19045230746269226, 3.0741753578186035, 0.04882688447833061, 3.0396687984466553, 2.049476146697998, 0, 0, -0.4987429976463318 ], [ 0.8714396357536316, -1.489362120628357, 3.3563015460968018, 2.639528512954712, 0.5061320662498474, ...	[ "wall", "wall", "wall", "ceiling", "side_table", "wall", "cupboard", "shelf", "printer", "scanner", "printer", "emergencylight" ]
NYU0678	SUNRGBD/kv1/NYUdata/NYU0678	561	427	[ "bathroomvanity", "door", "garbage_bin", "shoe", "toilet", "towel", "wall" ]	[ [ -0.9368730187416077, 0.4922909140586853, 1.8370308876037598, 0.36364927887916565, 1.6060616970062256, 0.10133025050163269, 0, 0, -0.0019059913465753198 ], [ 0.11322277784347534, 0.4963459372520447, 2.9126906394958496, 0.8366838693618774, 1.61194038391113...	[ "wall", "wall", "door", "toilet", "wall", "garbage_bin", "door", "bathroomvanity", "shoe", "towel" ]
NYU0141	SUNRGBD/kv1/NYUdata/NYU0141	561	427	[ "aircon", "gasrange", "ladder" ]	[ [ 0.6733661890029907, 0.4874999523162842, 0.7049248814582825, 0.742447555065155, 1.212499976158142, 0.7933958768844604, 0, 0, -1.477319359779358 ], [ -0.004189041908830404, 0.10625001788139343, 1.6550514698028564, 0.8134956955909729, 0.44999998807907104, ...	[ "gasrange", "aircon", "ladder" ]
NYU0779	SUNRGBD/kv1/NYUdata/NYU0779	561	427	[ "fridge", "kettle", "kitchen_cabinet", "kitchen_counter", "knives", "stove" ]	[ [ -1.4875004291534424, 0.4090909957885742, 0.8312503099441528, 0.7375004291534424, 0.24545469880104065, 0.6125002503395081, 0, 0, -1.5707963705062866 ], [ -1.4992971420288086, 0.29999998211860657, 0.9523081183433533, 0.284361332654953, 0.21250014007091522,...	[ "stove", "kettle", "knives", "kitchen_counter", "fridge", "kitchen_cabinet" ]
NYU1186	SUNRGBD/kv1/NYUdata/NYU1186	561	427	[ "bed", "night_stand", "pillow", "television", "wall" ]	[ [ -0.5146387219429016, 0.33126285672187805, 3.6299448013305664, 2.7252583503723145, 1.8210769891738892, 0.06884698569774628, 0, 0, -2.774653434753418 ], [ 1.2520649433135986, 0.4086809456348419, 2.798548460006714, 0.02658247761428356, 1.870940089225769, ...	[ "wall", "wall", "bed", "pillow", "night_stand", "bed", "television" ]
NYU0273	SUNRGBD/kv1/NYUdata/NYU0273	561	427	[ "chair", "table" ]	[ [ 0.8863630294799805, 0.9727281332015991, 2.877274751663208, 2.5513083934783936, 0.8636371493339539, 0.7880309820175171, 0, 0, 0.28906768560409546 ], [ 0.7636358737945557, 0.954546332359314, 2.472728967666626, 0.5607698559761047, 0.9181826114654541, 0....	[ "table", "chair", "chair", "chair", "chair" ]
NYU1056	SUNRGBD/kv1/NYUdata/NYU1056	561	427	[ "bed", "bunk_bed", "chair", "garbage_bin", "pillow" ]	[ [ 0.24373182654380798, 0.8737499117851257, 2.5117533206939697, 0.6506744027137756, 0.8900001645088196, 0.6802452802658081, 0, 0, -0.07646485418081284 ], [ 1.1374315023422241, 0.47096607089042664, 2.502974271774292, 0.462472140789032, 0.3794321119785309, ...	[ "chair", "pillow", "garbage_bin", "pillow", "bed", "bunk_bed" ]
NYU0062	SUNRGBD/kv1/NYUdata/NYU0062	561	427	[ "case", "door", "dresser", "lotion", "tv", "wall" ]	[ [ -0.31287020444869995, 0.18218070268630981, 1.9697588682174683, 1.698164463043213, 1.9181352853775024, 0.04921988025307655, 0, 0, -2.5885164737701416 ], [ 0.3738194406032562, 0.2955760955810547, 2.209104537963867, 0.28018009662628174, 1.6913444995880127, ...	[ "wall", "wall", "wall", "wall", "dresser", "tv", "door", "case", "lotion" ]
NYU0578	SUNRGBD/kv1/NYUdata/NYU0578	561	427	[ "cubby", "island", "wall" ]	[ [ -1.4197754859924316, 0.5403077602386475, 2.2470545768737793, 0.13282330334186554, 1.838938593864441, 0.004904572386294603, 0, 0, -0.0779302641749382 ], [ -1.466009497642517, 0.5422738194465637, 1.491443395614624, 0.010447129607200623, 1.841954231262207, ...	[ "wall", "wall", "island", "wall", "cubby" ]
NYU0414	SUNRGBD/kv1/NYUdata/NYU0414	561	427	[ "chair", "door", "garbage_bin", "organizer", "plate", "shelf", "table", "tray", "waterdispenser" ]	[ [ 0.9627288579940796, 0.893750011920929, 1.42253839969635, 0.5116648077964783, 0.8500000238418579, 0.6237969398498535, 0, 0, -1.54448664188385 ], [ 0.9678897261619568, 0.887499988079071, 1.9530185461044312, 0.462165892124176, 0.8374999761581421, 0.6254...	[ "chair", "chair", "chair", "chair", "chair", "chair", "table", "table", "table", "table", "tray", "tray", "plate", "garbage_bin", "waterdispenser", "shelf", "organizer", "door" ]
NYU1110	SUNRGBD/kv1/NYUdata/NYU1110	561	427	[ "bed", "lamp", "night_stand", "nightstand", "pillow", "wall" ]	[ [ -2.2667250633239746, 0.14455440640449524, 4.023028373718262, 0.08298816531896591, 2.183295249938965, 0.9205306172370911, 0, 0, -0.579014241695404 ], [ -0.33583223819732666, 0.21825584769248962, 3.3108084201812744, 4.094763278961182, 2.330698251724243, ...	[ "wall", "wall", "bed", "night_stand", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "nightstand", "lamp" ]
NYU1242	SUNRGBD/kv1/NYUdata/NYU1242	561	427	[ "cabinet", "ceiling", "shelf", "sofa", "table", "wall" ]	[ [ -3.3036391735076904, -0.12916839122772217, 9.346409797668457, 3.1001405715942383, 2.3026833534240723, 0.014507259242236614, 0, 0, 0.039458442479372025 ], [ -1.284972071647644, -0.08384180068969727, 6.996703147888184, 0.05167495086789131, 2.27652144432067...	[ "wall", "wall", "wall", "wall", "ceiling", "wall", "wall", "table", "sofa", "cabinet", "shelf" ]
NYU0632	SUNRGBD/kv1/NYUdata/NYU0632	561	427	[ "coffee_table", "endtable", "garbage_bin", "sofa", "sofa_chair", "wall", "whiteboard" ]	[ [ 1.8623032569885254, -0.4124999940395355, 4.4429240226745605, 1.263497233390808, 1.337499976158142, 0.2216712236404419, 0, 0, 2.132004976272583 ], [ -1.2811459302902222, -0.24406763911247253, 6.639883041381836, 4.270997524261475, 2.6363015174865723, 0...	[ "whiteboard", "wall", "sofa", "sofa_chair", "endtable", "sofa_chair", "coffee_table", "coffee_table", "garbage_bin" ]
NYU0577	SUNRGBD/kv1/NYUdata/NYU0577	561	427	[ "cubby", "island", "kitchen_cabinet", "person" ]	[ [ -2.272526502609253, 0.4937504827976227, 0.780732274055481, 1.286465048789978, 1.899999976158142, 0.4674471914768219, 0, 0, -1.5707964897155762 ], [ -0.6687497496604919, -0.1562497317790985, 1.5187499523162842, 0.7001116275787354, 0.4750000238418579, ...	[ "cubby", "kitchen_cabinet", "island", "person" ]
NYU0018	SUNRGBD/kv1/NYUdata/NYU0018	561	427	[ "box", "ceiling", "file_cabinet", "ladder", "shelf", "wall" ]	[ [ -0.2977096438407898, -1.0374034643173218, 2.195983409881592, 2.545948028564453, 0.010573181323707104, 2.276304244995117, 0, 0, -2.9676575660705566 ], [ -0.4910443127155304, 0.1583261489868164, 3.3093831539154053, 2.5414140224456787, 2.381742477416992, ...	[ "ceiling", "wall", "wall", "wall", "wall", "wall", "wall", "wall", "wall", "wall", "box", "shelf", "file_cabinet", "shelf", "ladder" ]
NYU1326	SUNRGBD/kv1/NYUdata/NYU1326	561	427	[ "pillow", "sofa", "wall" ]	[ [ -0.7032923102378845, 0.2622912526130676, 1.5689411163330078, 0.6748698949813843, 1.910918951034546, 0.035306576639413834, 0, 0, -0.13191206753253937 ], [ -0.2404399961233139, 0.2651279866695404, 1.616085410118103, 0.3430621922016144, 1.9138253927230835, ...	[ "wall", "wall", "wall", "wall", "wall", "sofa", "pillow" ]
NYU1272	SUNRGBD/kv1/NYUdata/NYU1272	561	427	[ "coffee_table", "pillow", "sofa", "wall" ]	[ [ -1.8166565895080566, 1.0123875141143799, 4.543140888214111, 0.9355021715164185, 0.8606227040290833, 2.20389986038208, 0, 0, -0.19672273099422455 ], [ -1.7995262145996094, 0.7544398903846741, 4.30385684967041, 0.24007917940616608, 0.4174998998641968, ...	[ "sofa", "pillow", "pillow", "sofa", "pillow", "pillow", "pillow", "pillow", "wall", "wall", "wall", "wall", "wall", "wall", "sofa", "coffee_table" ]
NYU1161	SUNRGBD/kv1/NYUdata/NYU1161	561	427	[ "box", "dresser", "table", "wall" ]	[ [ -0.9985136389732361, 0.42787787318229675, 2.637482166290283, 0.02717103250324726, 1.8486688137054443, 1.8148921728134155, 0, 0, -0.740433394908905 ], [ 0.40727847814559937, 0.42929476499557495, 2.5578012466430664, 2.205916166305542, 1.7872440814971924, ...	[ "wall", "wall", "dresser", "table", "box" ]
NYU0925	SUNRGBD/kv1/NYUdata/NYU0925	561	427	[ "chair", "drawer" ]	[ [ 1.1184920072555542, 0.8916663527488708, 2.651005268096924, 0.5851833820343018, 0.8374999761581421, 0.8105032444000244, 0, 0, -0.9838582873344421 ], [ 1.3198853731155396, 0.8979163765907288, 1.9539045095443726, 0.6652655005455017, 0.8499999642372131, ...	[ "chair", "chair", "drawer" ]
NYU0420	SUNRGBD/kv1/NYUdata/NYU0420	561	427	[ "box", "door", "table", "wall" ]	[ [ -0.5067238211631775, 0.019440174102783203, 5.299787521362305, 2.67533278465271, 2.3128793239593506, 0.05012516304850578, 0, 0, -2.529827833175659 ], [ -1.791084885597229, 0.025478005409240723, 4.831684589385986, 0.021894238889217377, 2.3008036613464355, ...	[ "wall", "wall", "door", "wall", "wall", "box", "table", "box" ]
NYU0140	SUNRGBD/kv1/NYUdata/NYU0140	561	427	[ "bowl", "canopener", "coffeemaker", "grillbar", "kitchen_cabinet", "kitchen_counter", "pitcher", "sink" ]	[ [ 0.7625004053115845, 0.2812497615814209, 0.7687503695487976, 0.23750019073486328, 0.10000000894069672, 0.2375001609325409, 0, 0, -1.5410513753977284e-7 ], [ 0.41938892006874084, 0.14999979734420776, 0.9871379733085632, 0.23914287984371185, 0.3375000059604...	[ "bowl", "coffeemaker", "sink", "grillbar", "kitchen_counter", "pitcher", "canopener", "kitchen_cabinet" ]
NYU1039	SUNRGBD/kv1/NYUdata/NYU1039	561	427	[ "box", "bunk_bed", "garbage_bin", "pillow", "wall" ]	[ [ -1.168468713760376, 0.31530269980430603, 3.556579113006592, 0.05428954213857651, 1.8728760480880737, 2.6247451305389404, 0, 0, -0.7675766944885254 ], [ 0.7923454642295837, 0.3404030501842499, 3.4878716468811035, 2.971585750579834, 1.9230766296386719, ...	[ "wall", "wall", "pillow", "box", "garbage_bin", "pillow", "pillow", "bunk_bed" ]
NYU1134	SUNRGBD/kv1/NYUdata/NYU1134	561	427	[ "box", "chair", "drawer", "table", "tv", "wall" ]	[ [ -1.2641862630844116, 0.6069451570510864, 2.609428882598877, 0.017614558339118958, 1.4588520526885986, 1.1903979778289795, 0, 0, -0.6115926504135132 ], [ 0.09200078994035721, 0.574922502040863, 2.371041774749756, 2.511988401412964, 1.5530898571014404, ...	[ "wall", "wall", "table", "chair", "tv", "box", "drawer" ]

NYU1235

SUNRGBD/kv1/NYUdata/NYU1235

561

427

[ "endtable", "shelf", "sofa", "wall" ]

[ [ -1.4391865730285645, 0.3127281963825226, 3.247802495956421, 0.7461567521095276, 1.8761768341064453, 0.004426731262356043, 0, 0, -0.3088797628879547 ], [ -1.0561912059783936, 0.3181518614292145, 3.2245049476623535, 0.028397757560014725, 1.8654953241348267...

[ "wall", "wall", "wall", "wall", "wall", "wall", "wall", "wall", "endtable", "sofa", "wall", "wall", "wall", "wall", "wall", "wall", "wall", "shelf" ]

NYU0454

SUNRGBD/kv1/NYUdata/NYU0454

561

427

[ "chair", "computer", "desk", "fax", "garbage_bin", "kitchen_cabinet", "organizer", "printer", "scanner", "telephone" ]

[ [ -0.11977633833885193, 0.8875001668930054, 2.268676996231079, 0.7412514686584473, 1.1125001907348633, 0.7264541983604431, 0, 0, -1.7565149068832397 ], [ -0.9054986834526062, 0.6250001192092896, 2.064077854156494, 0.3394172191619873, 0.13750001788139343, ...

[ "chair", "scanner", "organizer", "fax", "computer", "printer", "telephone", "kitchen_cabinet", "garbage_bin", "desk" ]

NYU0068

SUNRGBD/kv1/NYUdata/NYU0068

561

427

[ "box", "dresser", "dvdplayer", "shelf", "tv", "wall" ]

[ [ -1.1291080713272095, 0.09953440725803375, 1.891542673110962, 0.008725650608539581, 1.9272047281265259, 0.6107706427574158, 0, 0, -0.38793426752090454 ], [ -0.8619219064712524, 0.10068307816982269, 2.1063733100891113, 0.34082043170928955, 1.92490744590759...

[ "wall", "wall", "wall", "wall", "dresser", "tv", "box", "dvdplayer", "shelf" ]

NYU1162

SUNRGBD/kv1/NYUdata/NYU1162

561

427

[ "box", "dresser", "night_stand", "wall" ]

[ [ -0.5874983668327332, 0.4486055076122284, 1.9428390264511108, 0.042450565844774246, 1.8879281282424927, 2.304706573486328, 0, 0, -0.03801800683140755 ], [ 0.5270398855209351, 0.40775659680366516, 2.9931747913360596, 2.181619882583618, 1.8912980556488037, ...

[ "wall", "wall", "dresser", "box", "night_stand", "box" ]

NYU0634

SUNRGBD/kv1/NYUdata/NYU0634

561

427

[ "back_pack", "chair", "desk", "monitor", "person", "shelf", "teddybear" ]

[ [ -1.2592309713363647, 0.8375000953674316, 2.691793441772461, 0.6816973686218262, 0.9375000596046448, 0.7943888306617737, 0, 0, -2.936876058578491 ], [ 0.4004054069519043, 0.7937500476837158, 2.710087776184082, 0.6485127210617065, 1.0250000953674316, 0...

[ "chair", "chair", "desk", "teddybear", "desk", "monitor", "back_pack", "desk", "monitor", "desk", "desk", "shelf", "monitor", "person", "person" ]

NYU0986

SUNRGBD/kv1/NYUdata/NYU0986

561

427

[ "bed", "bookshelf", "box", "chair", "lamp", "pillow", "stool", "table" ]

[ [ 0.321223646402359, 1.0056700706481934, 2.0562124252319336, 1.0422016382217407, 0.8006812930107117, 1.724537968635559, 0, 0, 3.071423292160034 ], [ 0.6920496225357056, 0.413274347782135, 2.2199103832244873, 0.8148563504219055, 0.4516543745994568, 0.38...

[ "bed", "pillow", "pillow", "lamp", "box", "stool", "table", "chair", "bookshelf" ]

NYU0413

SUNRGBD/kv1/NYUdata/NYU0413

561

427

[ "box", "kitchen_cabinet", "kitchen_counter", "papertowel", "sink" ]

[ [ -0.9062495827674866, 0.4000001847743988, 2.093749523162842, 0.5126523375511169, 0.5125001072883606, 0.5251486897468567, 0, 0, -0.02438528649508953 ], [ -0.4312496483325958, 0.3125001788139343, 2.268749713897705, 0.17499998211860657, 0.3875000476837158, ...

[ "sink", "papertowel", "box", "box", "box", "box", "papertowel", "kitchen_counter", "kitchen_cabinet" ]

NYU0755

SUNRGBD/kv1/NYUdata/NYU0755

561

427

[ "cabinet", "door", "kitchen_counter", "stove", "table", "wall" ]

[ [ 0.5573035478591919, 0.29919683933258057, 3.904574394226074, 1.6647461652755737, 2.4661614894866943, 0.008311811834573746, 0, 0, -2.64095139503479 ], [ 1.261099100112915, 0.2798652648925781, 4.291548252105713, 0.05862726643681526, 2.4274983406066895, ...

[ "wall", "wall", "wall", "wall", "door", "cabinet", "table", "kitchen_counter", "stove" ]

NYU0143

SUNRGBD/kv1/NYUdata/NYU0143

561

427

[ "bottle", "dishwasher", "jam", "kitchen_cabinet", "kitchen_counter", "kitchenutensils", "sink", "spoonholder" ]

[ [ -1.0829626321792603, -0.38125017285346985, 0.8870224356651306, 1.291442632675171, 0.6750001311302185, 0.3127315640449524, 0, 0, -1.5416783094406128 ], [ -0.9125003814697266, 0.3468749523162842, 1.162500023841858, 0.6500000357627869, 0.39375007152557373, ...

[ "kitchen_cabinet", "sink", "kitchenutensils", "kitchen_counter", "kitchen_counter", "bottle", "bottle", "spoonholder", "jam", "dishwasher" ]

NYU0082

SUNRGBD/kv1/NYUdata/NYU0082

561

427

[ "bed", "books", "dresser", "suits_case", "wall" ]

[ [ -0.6493527889251709, 0.24674473702907562, 1.715785026550293, 0.07693032920360565, 1.925968050956726, 1.6702460050582886, 0, 0, -0.11788428574800491 ], [ 0.3607047200202942, 0.20176951587200165, 2.4245479106903076, 1.91093909740448, 1.9790116548538208, ...

[ "wall", "wall", "dresser", "bed", "books", "suits_case" ]

NYU0638

SUNRGBD/kv1/NYUdata/NYU0638

561

427

[ "chair", "desk", "keyboard", "monitor", "shelf", "tissuebox" ]

[ [ 0.16486530005931854, 0.8874999284744263, 1.7024697065353394, 0.6588956117630005, 0.9124999642372131, 0.7224953770637512, 0, 0, 2.140428066253662 ], [ -0.6437498927116394, 0.41874992847442627, 2.4125006198883057, 0.6033759713172913, 0.42499998211860657, ...

[ "chair", "monitor", "keyboard", "desk", "tissuebox", "shelf" ]

NYU0216

SUNRGBD/kv1/NYUdata/NYU0216

561

427

[ "chair", "computer", "cups", "desk", "papers" ]

[ [ -0.5070106983184814, -0.10000000894069672, 1.69632089138031, 0.5387792587280273, 0.4375000596046448, 0.13806000351905823, 0, 0, 0.45554497838020325 ], [ 0.0188123919069767, -0.10625001043081284, 1.8591160774230957, 0.5648667216300964, 0.4750000536441803,...

[ "computer", "computer", "cups", "desk", "chair", "papers" ]

NYU1232

SUNRGBD/kv1/NYUdata/NYU1232

561

427

[ "endtable", "sofa_chair", "tv", "tv_stand", "wall" ]

[ [ -1.8570061922073364, 0.5671897530555725, 4.08480978012085, 1.6481194496154785, 1.774685263633728, 0.019873062148690224, 0, 0, -2.3904170989990234 ], [ 0.0349850170314312, 0.5722734928131104, 3.1606857776641846, 0.06405796855688095, 1.7645176649093628, ...

[ "wall", "wall", "sofa_chair", "sofa_chair", "tv", "endtable", "tv", "tv_stand" ]

NYU0517

SUNRGBD/kv1/NYUdata/NYU0517

561

427

[ "bed", "bookshelf", "desk", "wall" ]

[ [ -0.8447624444961548, 0.5087316036224365, 1.9263654947280884, 0.03663281351327896, 1.8351491689682007, 2.5055465698242188, 0, 0, 0.10289633274078369 ], [ 0.407408744096756, 0.5326537489891052, 3.3008720874786377, 2.7995707988739014, 1.8828579187393188, ...

[ "wall", "wall", "bed", "desk", "bookshelf" ]

NYU0592

SUNRGBD/kv1/NYUdata/NYU0592

561

427

[ "box", "cabinet", "coffee_table", "endtable", "sofa_chair", "wall" ]

[ [ 0.19647815823554993, 0.37962305545806885, 2.8767218589782715, 2.8093979358673096, 1.9075382947921753, 0.006798274349421263, 0, 0, -0.7505275011062622 ], [ -1.4583978652954102, 0.348892480134964, 3.0661520957946777, 0.04630325362086296, 1.8454371690750122...

[ "wall", "wall", "coffee_table", "endtable", "box", "sofa_chair", "cabinet" ]

NYU0155

SUNRGBD/kv1/NYUdata/NYU0155

561

427

[ "box", "garbage_bin", "laptop", "stove" ]

[ [ 1.7374770641326904, 1.0187500715255737, 1.6624778509140015, 0.47499367594718933, 0.3750000298023224, 0.18749752640724182, 0, 0, -1.5707963705062866 ], [ 2.3739590644836426, 0.8812500834465027, 1.7490102052688599, 0.3645143210887909, 0.6250000596046448, ...

[ "box", "garbage_bin", "garbage_bin", "stove", "laptop" ]

NYU0305

SUNRGBD/kv1/NYUdata/NYU0305

561

427

[ "chair", "desk", "person" ]

[ [ 0.5595805048942566, 0.949999988079071, 2.4299747943878174, 0.7543014287948608, 0.6625000238418579, 0.5638018250465393, 0, 0, -3.0841426849365234 ], [ 0.5312385559082031, 0.9624999761581421, 2.131204128265381, 0.4376690983772278, 0.637499988079071, 0....

[ "desk", "chair", "desk", "desk", "chair", "desk", "chair", "desk", "chair", "person", "person", "person" ]

NYU0794

SUNRGBD/kv1/NYUdata/NYU0794

561

427

[ "chair", "table", "wall" ]

[ [ -1.305052638053894, 0.1199084222316742, 6.463680267333984, 3.527033805847168, 2.137362480163574, 0.026353592053055763, 0, 0, 1.7813160419464111 ], [ -0.8410144448280334, 0.21474933624267578, 4.73301362991333, 0.3174917697906494, 1.9674296379089355, 0...

[ "wall", "wall", "wall", "wall", "wall", "table", "chair", "chair", "chair", "chair", "chair" ]

NYU1164

SUNRGBD/kv1/NYUdata/NYU1164

561

427

[ "bed", "laundrybasket", "wall" ]

[ [ -1.4374945163726807, 0.9713784456253052, 0.8675657510757446, 1.3254917860031128, 0.7084540128707886, 2.0833053588867188, 0, 0, 2.087672472000122 ], [ -0.6964305639266968, 0.7073853611946106, 2.3041954040527344, 1.3250731229782104, 1.2409212589263916, ...

[ "bed", "wall", "wall", "laundrybasket", "laundrybasket" ]

NYU0441

SUNRGBD/kv1/NYUdata/NYU0441

561

427

[ "chair", "table", "wall" ]

[ [ 0.09601804614067078, 0.2895583510398865, 2.519850015640259, 0.0060818614438176155, 2.4564414024353027, 2.9208853244781494, 0, 0, -2.5124850273132324 ], [ 0.47857075929641724, 1.0894173383712769, 1.6627345085144043, 0.38619497418403625, 0.851007878780365,...

[ "wall", "table", "table", "chair", "chair", "chair" ]

NYU0154

SUNRGBD/kv1/NYUdata/NYU0154

561

427

[ "desk", "door", "wall" ]

[ [ 0.02147980034351349, 0.13280391693115234, 2.4009757041931152, 2.347496509552002, 2.028285264968872, 0.01921016164124012, 0, 0, -2.933241605758667 ], [ 1.281241774559021, 0.12814229726791382, 2.1075186729431152, 0.003880521049723029, 2.0341193675994873, ...

[ "wall", "wall", "door", "desk" ]

NYU0449

SUNRGBD/kv1/NYUdata/NYU0449

561

427

[ "cabinet", "printer", "roller", "table" ]

[ [ -0.35319581627845764, 0.9374997615814209, 1.9484400749206543, 0.9632096886634827, 0.7874997854232788, 0.9666152596473694, 0, 0, -0.045423299074172974 ], [ -0.34398359060287476, 0.3999999165534973, 1.9315019845962524, 0.9103479981422424, 0.287499934434890...

[ "table", "printer", "table", "printer", "cabinet", "roller", "roller" ]

NYU0570

SUNRGBD/kv1/NYUdata/NYU0570

561

427

[ "fridge", "island", "microwave", "stool", "stove", "wall" ]

[ [ -0.14434148371219635, 0.359421968460083, 2.7757885456085205, 2.575654983520508, 2.0303211212158203, 0.0152704743668437, 0, 0, -2.6419801712036133 ], [ 1.435028076171875, 0.35672298073768616, 2.5626823902130127, 0.015492294915020466, 2.024923086166382, ...

[ "wall", "wall", "stool", "island", "fridge", "microwave", "stove" ]

NYU1281

SUNRGBD/kv1/NYUdata/NYU1281

561

427

[ "pianobench", "sofa", "table", "wall" ]

[ [ -2.1379234790802, 0.08643628656864166, 3.233966588973999, 0.08819151669740677, 2.7114977836608887, 4.24983024597168, 0, 0, 0.13219350576400757 ], [ -0.7245953679084778, -0.015644164755940437, 5.4019622802734375, 3.4502005577087402, 2.692807912826538, ...

[ "wall", "wall", "wall", "wall", "sofa", "sofa", "table", "pianobench" ]

NYU1096

SUNRGBD/kv1/NYUdata/NYU1096

561

427

[ "bed", "night_stand", "pillow", "wall" ]

[ [ -0.8067433834075928, 0.28675058484077454, 2.683042049407959, 0.07957011461257935, 1.4602128267288208, 2.1861443519592285, 0, 0, -0.6687774062156677 ], [ 0.7207129597663879, 0.3205687999725342, 2.852269411087036, 2.2663984298706055, 1.5278493165969849, ...

[ "wall", "wall", "bed", "pillow", "pillow", "pillow", "pillow", "pillow", "night_stand" ]

NYU1319

SUNRGBD/kv1/NYUdata/NYU1319

561

427

[ "box", "drawer", "night_stand", "tv", "wall" ]

[ [ -1.010272741317749, 0.4470469653606415, 2.484574794769287, 0.01485965121537447, 1.6718233823776245, 1.4398645162582397, 0, 0, -0.7167481780052185 ], [ 0.24048464000225067, 0.4535658061504364, 2.239793539047241, 2.228252649307251, 1.6587857007980347, ...

[ "wall", "wall", "tv", "box", "drawer", "night_stand" ]

NYU0629

SUNRGBD/kv1/NYUdata/NYU0629

561

427

[ "basket", "bookshelf", "cabinet", "calendar", "chair", "desk", "wall" ]

[ [ 1.0457608699798584, 0.5800259113311768, 1.6839990615844727, 2.484107732772827, 1.4969942569732666, 0.00828020740300417, 0, 0, 1.317402958869934 ], [ -0.32211825251579285, 0.5611406564712524, 3.3247106075286865, 3.479336738586426, 1.4902186393737793, ...

[ "wall", "wall", "desk", "chair", "chair", "basket", "cabinet", "calendar", "bookshelf" ]

NYU0455

SUNRGBD/kv1/NYUdata/NYU0455

561

427

[ "chair", "computer", "desk", "garbage_bin", "wall" ]

[ [ 0.46575841307640076, 0.6776519417762756, 3.961273193359375, 0.03664335981011391, 1.5630687475204468, 0.7157038450241089, 0, 0, -2.414053201675415 ], [ 0.9885972142219543, 0.6739967465400696, 3.9640586376190186, 0.8212350606918335, 1.5703791379928589, ...

[ "wall", "wall", "wall", "wall", "desk", "desk", "desk", "chair", "chair", "garbage_bin", "computer" ]

NYU0568

SUNRGBD/kv1/NYUdata/NYU0568

561

427

[ "blender", "dishwasher", "garbage_bin", "kitchen_counter", "person", "pot", "stove" ]

[ [ 0.8628397583961487, 1.087499976158142, 1.3338345289230347, 0.3365410268306732, 0.512499988079071, 0.44292277097702026, 0, 0, -1.8417432308197021 ], [ 2.6488499641418457, 0.918749988079071, 1.4549788236618042, 0.5499165654182434, 0.8500000238418579, 0...

[ "garbage_bin", "dishwasher", "stove", "blender", "pot", "kitchen_counter", "person" ]

NYU0212

SUNRGBD/kv1/NYUdata/NYU0212

561

427

[ "basket", "bowl", "plate", "shelf", "table" ]

[ [ -0.7147329449653625, 0.9500001072883606, 1.047447681427002, 1.2178139686584473, 0.7375000715255737, 0.717635989189148, 0, 0, -1.9128581285476685 ], [ -0.03630191087722778, -0.07500001043081284, 1.7881903648376465, 0.3517807424068451, 0.16250000894069672,...

[ "table", "basket", "bowl", "plate", "shelf" ]

NYU1442

SUNRGBD/kv1/NYUdata/NYU1442

561

427

[ "chair", "painting", "table" ]

[ [ -0.5937497019767761, 0.84375, 1.5999993085861206, 0.5624997615814209, 0.925000011920929, 0.5624997615814209, 0, 0, -1.5707963705062866 ], [ -0.5187497735023499, 0.8375000357627869, 2.2499990463256836, 0.5811437368392944, 0.9375, 0.5577176213264465, ...

[ "chair", "chair", "chair", "chair", "painting", "painting", "table" ]

NYU1387

SUNRGBD/kv1/NYUdata/NYU1387

561

427

[ "cabinet", "chair", "piano", "pianobench", "table" ]

[ [ -0.7750000357627869, 0.6000000238418579, 2.6312503814697266, 1.46255362033844, 1.0625001192092896, 0.625, 0, 0, -1.5793430805206299 ], [ -0.5267045497894287, 0.8875000476837158, 2.7119321823120117, 0.8488637208938599, 0.5125000476837158, 0.3715909123...

[ "piano", "pianobench", "table", "cabinet", "chair", "chair", "chair" ]

NYU1406

SUNRGBD/kv1/NYUdata/NYU1406

561

427

[ "chair", "table", "wall" ]

[ [ -1.481013298034668, -0.5166009068489075, 4.436219692230225, 0.17160005867481232, 3.199294090270996, 4.212899208068848, 0, 0, -0.6516953706741333 ], [ 0.13017040491104126, -0.7691923379898071, 5.604949951171875, 1.3004769086837769, 2.6941113471984863, ...

[ "wall", "wall", "wall", "wall", "wall", "wall", "wall", "table", "chair", "chair", "chair" ]

NYU0561

SUNRGBD/kv1/NYUdata/NYU0561

561

427

[ "bowl", "kitchen_cabinet", "kitchen_counter", "mug", "organizer", "plasticcup", "plate", "sink", "tray" ]

[ [ 0.6242977976799011, 0.40625038743019104, 0.7448734045028687, 0.26013246178627014, 0.05000000819563866, 0.24117057025432587, 0, 0, 0.09495154023170471 ], [ 1.5062501430511475, 0.4312506914138794, 0.9312496185302734, 0.8631595969200134, 0.4250001013278961,...

[ "plate", "sink", "organizer", "plasticcup", "bowl", "mug", "kitchen_counter", "tray", "kitchen_cabinet", "kitchen_cabinet" ]

NYU1433

SUNRGBD/kv1/NYUdata/NYU1433

561

427

[ "chair", "table", "wall" ]

[ [ 1.4294843673706055, -0.23794865608215332, 4.99929141998291, 0.09443624317646027, 3.024712085723877, 3.434769868850708, 0, 0, -2.2210512161254883 ], [ -0.15631623566150665, -0.2580040693283081, 5.706552982330322, 0.888562798500061, 2.9846014976501465, ...

[ "wall", "wall", "table", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "wall", "wall", "wall" ]

NYU1202

SUNRGBD/kv1/NYUdata/NYU1202

561

427

[ "pillow", "sofa", "wall" ]

[ [ 0.27378329634666443, 0.3485868573188782, 3.03892183303833, 3.621999979019165, 1.8782843351364136, 0.038463044911623, 0, 0, -2.8746957778930664 ], [ -0.2690352499485016, 0.8375657796859741, 2.256946086883545, 2.1089630126953125, 0.8457016944885254, 0....

[ "wall", "sofa", "pillow", "pillow", "pillow" ]

NYU0846

SUNRGBD/kv1/NYUdata/NYU0846

561

427

[ "blender", "kitchen_cabinet", "kitchen_counter", "papertowel", "ricecooker" ]

[ [ -0.8750000596046448, 0.7874999046325684, 1.0437496900558472, 1.7810250520706177, 0.8624997735023499, 0.6987563371658325, 0, 0, -1.522799015045166 ], [ -1.024999976158142, 0.20000003278255463, 1.081249713897705, 0.3874998688697815, 0.3124999403953552, ...

[ "kitchen_counter", "papertowel", "ricecooker", "blender", "kitchen_cabinet" ]

NYU0687

SUNRGBD/kv1/NYUdata/NYU0687

561

427

[ "bathmat", "bathroomvanity", "sink" ]

[ [ -2.0805246829986572, 0.5667614340782166, 1.7748574018478394, 0.5352697372436523, 0.37897732853889465, 0.4302794933319092, 0, 0, -1.5363272428512573 ], [ -0.8999802470207214, 1.4187501668930054, 2.249950885772705, 0.6751009225845337, 0.07500001043081284, ...

[ "sink", "bathmat", "bathroomvanity" ]

NYU0890

SUNRGBD/kv1/NYUdata/NYU0890

561

427

[ "island", "kitchen_cabinet", "kitchen_counter", "papers", "plant", "stool" ]

[ [ -0.9847772121429443, 0.8614581823348999, 1.8955727815628052, 0.5501216650009155, 0.6770836114883423, 0.4251680374145508, 0, 0, -0.7083384990692139 ], [ -1.4130346775054932, 0.8489581942558289, 2.408267021179199, 0.39229434728622437, 0.7020835876464844, ...

[ "stool", "stool", "island", "papers", "plant", "kitchen_cabinet", "kitchen_counter" ]

NYU0175

SUNRGBD/kv1/NYUdata/NYU0175

561

427

[ "alarm", "blinds", "box", "dresser", "furnace", "picture", "wall" ]

[ [ -0.6632768511772156, 0.0914260670542717, 1.268301248550415, 0.0051802112720906734, 2.1805636882781982, 0.8983890414237976, 0, 0, -0.38624224066734314 ], [ -0.5998277068138123, 0.09352567046880722, 1.7220511436462402, 0.22563950717449188, 2.17702865600585...

[ "wall", "wall", "wall", "wall", "wall", "wall", "wall", "wall", "dresser", "box", "alarm", "picture", "furnace", "blinds" ]

NYU1102

SUNRGBD/kv1/NYUdata/NYU1102

561

427

[ "bed", "bookshelf", "box", "chair", "desk", "door", "mattress", "pillow", "recliner", "wall" ]

[ [ -1.3372102975845337, 0.4368872046470642, 2.9190847873687744, 0.061533309519290924, 1.7580013275146484, 2.471508502960205, 0, 0, -0.39960452914237976 ], [ 0.3602076470851898, 0.4896005392074585, 3.532895088195801, 2.701117753982544, 1.8243408203125, 0...

[ "wall", "wall", "bed", "pillow", "recliner", "door", "box", "box", "desk", "chair", "mattress", "bookshelf" ]

NYU1132

SUNRGBD/kv1/NYUdata/NYU1132

561

427

[ "chair", "table", "tv", "wall" ]

[ [ -0.6771252155303955, 0.22137299180030823, 3.4482228755950928, 2.315403938293457, 2.3216583728790283, 0.01916980743408203, 0, 0, 0.09108074009418488 ], [ 0.053851861506700516, 1.0043370723724365, 2.758448600769043, 1.4374865293502808, 0.7223811149597168, ...

[ "wall", "table", "chair", "tv", "wall" ]

NYU0348

SUNRGBD/kv1/NYUdata/NYU0348

561

427

[ "chessset", "pillow", "sofa_chair", "workoutequipment" ]

[ [ 0.37958672642707825, 0.6986637711524963, 2.094696521759033, 0.3432468771934509, 0.3030814528465271, 0.1947731077671051, 0, 0, -2.917372941970825 ], [ 0.43082302808761597, 0.8122159242630005, 2.0814497470855713, 0.9993341565132141, 0.7755680680274963, ...

[ "pillow", "sofa_chair", "chessset", "workoutequipment", "workoutequipment" ]

NYU0490

SUNRGBD/kv1/NYUdata/NYU0490

561

427

[ "box", "cabinet", "ceiling", "chair", "plasticbin", "table", "wall" ]

[ [ 2.5212836265563965, 0.4747387170791626, 6.084231376647949, 2.0050647258758545, 1.9062902927398682, 0.03328511491417885, 0, 0, -0.5554274320602417 ], [ -1.0333389043807983, 0.5181843638420105, 4.185358047485352, 4.092503547668457, 1.9166957139968872, ...

[ "wall", "wall", "box", "table", "chair", "chair", "ceiling", "wall", "cabinet", "cabinet", "plasticbin" ]

NYU0079

SUNRGBD/kv1/NYUdata/NYU0079

561

427

[ "bed", "book", "lamp", "night_stand", "pillow", "table", "wall" ]

[ [ -2.0076773166656494, 0.2947666645050049, 3.3486671447753906, 0.005867734085768461, 1.7874122858047485, 0.7373481392860413, 0, 0, -0.5424021482467651 ], [ -0.3283495008945465, 0.2928445041179657, 2.7524280548095703, 3.497878074645996, 1.7835679054260254, ...

[ "wall", "wall", "night_stand", "bed", "pillow", "pillow", "book", "table", "lamp" ]

NYU0135

SUNRGBD/kv1/NYUdata/NYU0135

561

427

[ "box", "counter", "kitchen_cabinet", "oil", "pitcher", "sink", "spicerack", "tray", "wall" ]

[ [ 0.4021189510822296, -0.10534435510635376, 2.192734718322754, 1.4367291927337646, 2.2481887340545654, 0.02352723479270935, 0, 0, -0.3568565249443054 ], [ -0.5534986853599548, -0.11159435659646988, 1.6722413301467896, 0.016530213877558708, 2.23568892478942...

[ "wall", "wall", "oil", "pitcher", "tray", "box", "spicerack", "sink", "counter", "kitchen_cabinet" ]

NYU0222

SUNRGBD/kv1/NYUdata/NYU0222

561

427

[ "bed", "box", "drawer", "garbage_bin", "lamp", "mirror", "person", "picture", "rug", "shelf", "table" ]

[ [ -1.4398157596588135, 0.887499988079071, 3.1069679260253906, 0.4928797781467438, 0.737500011920929, 0.42391225695610046, 0, 0, -1.425398826599121 ], [ -1.4040406942367554, 0.08124999701976776, 3.1089017391204834, 0.41248819231987, 0.875, 0.44998711347...

[ "table", "lamp", "garbage_bin", "rug", "shelf", "drawer", "box", "picture", "bed", "mirror", "person" ]

NYU0850

SUNRGBD/kv1/NYUdata/NYU0850

561

427

[ "kitchen_counter", "microwave", "shelf", "stool" ]

[ [ 0.9812214970588684, 0.9187501668930054, 1.4122411012649536, 0.43878158926963806, 0.9500001668930054, 0.4898347854614258, 0, 0, -2.258467435836792 ], [ 1.0383940935134888, 0.9187501668930054, 2.211697816848755, 0.4460442364215851, 0.9750001430511475, ...

[ "stool", "stool", "stool", "stool", "kitchen_counter", "shelf", "microwave" ]

NYU0848

SUNRGBD/kv1/NYUdata/NYU0848

561

427

[ "box", "kitchen_cabinet", "kitchen_counter", "sink" ]

[ [ -0.8588207364082336, -0.3395836055278778, 1.8091154098510742, 0.651016116142273, 0.6750000715255737, 0.38826698064804077, 0, 0, -2.2903525829315186 ], [ 0.5685790181159973, -0.3395836055278778, 3.4205634593963623, 1.1499536037445068, 0.6750000715255737, ...

[ "kitchen_cabinet", "kitchen_cabinet", "kitchen_cabinet", "kitchen_counter", "box", "sink" ]

NYU1276

SUNRGBD/kv1/NYUdata/NYU1276

561

427

[ "box", "coffee_table", "door", "pillow", "sofa", "wall" ]

[ [ -1.4960205554962158, -0.24892236292362213, 3.0206899642944336, 0.1246546059846878, 3.3632938861846924, 4.291735649108887, 0, 0, 0.2520853281021118 ], [ -0.04059446603059769, -0.18679465353488922, 5.524148941040039, 4.1901021003723145, 3.2390384674072266,...

[ "wall", "wall", "wall", "coffee_table", "box", "door", "sofa", "box", "pillow", "pillow", "sofa" ]

NYU0966

SUNRGBD/kv1/NYUdata/NYU0966

561

427

[ "bed", "painting", "shelf" ]

[ [ -0.6364010572433472, -0.04166698083281517, 2.6413819789886475, 0.33772850036621094, 0.5958331227302551, 0.15051865577697754, 0, 0, 0.215956449508667 ], [ 0.01747852750122547, -0.07291697710752487, 2.8358659744262695, 0.7502273917198181, 0.541666746139526...

[ "painting", "painting", "painting", "bed", "shelf", "shelf" ]

NYU1035

SUNRGBD/kv1/NYUdata/NYU1035

561

427

[ "bed", "box", "dresser", "pillow", "wall" ]

[ [ 0.3307085335254669, 0.4284200966358185, 2.978445053100586, 3.4879770278930664, 1.9419599771499634, 0.0232602097094059, 0, 0, -2.768824815750122 ], [ 1.531375765800476, 0.8487924933433533, 2.7188186645507812, 1.113187551498413, 0.9888705015182495, 1.3...

[ "wall", "bed", "pillow", "dresser", "pillow", "box" ]

NYU0680

SUNRGBD/kv1/NYUdata/NYU0680

561

427

[ "shower", "sink", "toilet", "wall" ]

[ [ 0.7064079642295837, 0.7271263599395752, 1.1543394327163696, 0.9890618324279785, 1.310508370399475, 0.026165524497628212, 0, 0, -2.3547556400299072 ], [ 0.009589113295078278, 0.6905142664909363, 2.3909194469451904, 2.4607224464416504, 1.331471562385559, ...

[ "wall", "wall", "toilet", "shower", "sink" ]

NYU1220

SUNRGBD/kv1/NYUdata/NYU1220

561

427

[ "bookshelf", "sofa", "stroller", "toyhouse" ]

[ [ 1.0506237745285034, 1.2312500476837158, 2.724233865737915, 0.32559946179389954, 0.550000011920929, 0.4150026738643646, 0, 0, -0.031239833682775497 ], [ 1.4186506271362305, 1.1749999523162842, 2.6435647010803223, 0.39997196197509766, 0.6625000238418579, ...

[ "stroller", "stroller", "toyhouse", "bookshelf", "sofa" ]

NYU0856

SUNRGBD/kv1/NYUdata/NYU0856

561

427

[ "chair", "kitchen_counter", "kitchen_sink", "phone", "tissueroll" ]

[ [ 0.7082417607307434, 0.5295516848564148, 2.6616005897521973, 0.5419051051139832, 0.7817538976669312, 0.40375804901123047, 0, 0, 3.094841241836548 ], [ 0.12503473460674286, 0.5257383584976196, 2.7094876766204834, 0.47246524691581726, 0.7813793420791626, ...

[ "chair", "chair", "chair", "chair", "chair", "phone", "tissueroll", "kitchen_sink", "kitchen_counter" ]

NYU1071

SUNRGBD/kv1/NYUdata/NYU1071

561

427

[ "bed", "nightstand", "pillow", "wall" ]

[ [ -1.6884758472442627, 0.4902280271053314, 4.160892963409424, 0.01564578153192997, 1.5809061527252197, 2.720259189605713, 0, 0, -0.6857381463050842 ], [ 0.643040657043457, 0.4748375117778778, 4.002768039703369, 3.8246870040893555, 1.5501251220703125, 0...

[ "wall", "wall", "bed", "nightstand", "pillow", "pillow", "pillow", "nightstand" ]

NYU0781

SUNRGBD/kv1/NYUdata/NYU0781

561

427

[ "chair", "counter", "door", "table", "wall" ]

[ [ 1.813677430152893, 0.640685498714447, 5.275632381439209, 2.508230686187744, 1.406129002571106, 0.08053072541952133, 0, 0, -0.5325143933296204 ], [ -0.8992469906806946, 0.5333306789398193, 4.845241069793701, 6.9894585609436035, 1.6958385705947876, 0.0...

[ "wall", "wall", "table", "counter", "chair", "chair", "chair", "chair", "chair", "chair", "door", "chair" ]

NYU0322

SUNRGBD/kv1/NYUdata/NYU0322

561

427

[ "art_board", "board", "box", "chair", "desk", "rack", "shelf", "table", "toy" ]

[ [ 0.4749782681465149, 0.875, 4.54354190826416, 0.8624605536460876, 0.9125000238418579, 0.38748225569725037, 0, 0, 0 ], [ 1.6124261617660522, 0.925000011920929, 0.9374570846557617, 0.9999542236328125, 0.887499988079071, 0.4124811291694641, 0, 0,...

[ "shelf", "shelf", "chair", "chair", "table", "chair", "chair", "chair", "chair", "chair", "rack", "rack", "shelf", "box", "toy", "desk", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "art_board", "board" ]

NYU0391

SUNRGBD/kv1/NYUdata/NYU0391

561

427

[ "bag", "cabinet", "desk", "diploma", "sofa_chair", "stuffed_toy" ]

[ [ 0.47108006477355957, 0.8258523941040039, 1.2317737340927124, 0.9253178238868713, 1.05170476436615, 0.975299596786499, 0, 0, -2.3673641681671143 ], [ -1.1930228471755981, 0.970454752445221, 1.7328788042068481, 1.9493379592895508, 0.7875000834465027, 0...

[ "sofa_chair", "desk", "diploma", "diploma", "bag", "stuffed_toy", "diploma", "cabinet" ]

NYU0976

SUNRGBD/kv1/NYUdata/NYU0976

561

427

[ "bed", "painting", "pillow" ]

[ [ -0.3878929018974304, 0.810419499874115, 2.8799188137054443, 1.800378680229187, 1.1133393049240112, 2.352534294128418, 0, 0, -2.3697381019592285 ], [ -1.1351531744003296, 0.5394713282585144, 3.1562445163726807, 0.7972321510314941, 0.19595706462860107, ...

[ "bed", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "painting" ]

NYU0721

SUNRGBD/kv1/NYUdata/NYU0721

561

427

[ "bathroomvanity", "cup", "sink" ]

[ [ 0.7173498272895813, 0.40596577525138855, 1.0892263650894165, 0.5922916531562805, 0.47556814551353455, 0.47267675399780273, 0, 0, 0.037020258605480194 ], [ 0.4250001013278961, 0.35312485694885254, 1.087499976158142, 0.08749999105930328, 0.1062499880790710...

[ "sink", "cup", "bathroomvanity" ]

NYU0816

SUNRGBD/kv1/NYUdata/NYU0816

561

427

[ "cabinet", "chair", "electricpot", "fridge", "island", "kitchen_cabinet", "kitchen_counter", "oven", "papertowelroll", "vase" ]

[ [ 0.4661252498626709, 0.800000011920929, 1.6426420211791992, 0.4824989140033722, 0.987500011920929, 0.5576262474060059, 0, 0, -0.6383197903633118 ], [ 1.0377217531204224, 0.800000011920929, 1.6998485326766968, 0.44942909479141235, 0.987500011920929, 0....

[ "chair", "chair", "chair", "chair", "vase", "island", "electricpot", "papertowelroll", "oven", "fridge", "cabinet", "kitchen_cabinet", "kitchen_cabinet", "kitchen_counter" ]

NYU0758

SUNRGBD/kv1/NYUdata/NYU0758

561

427

[ "bowl", "chair", "placemat", "shelf", "table" ]

[ [ -0.9708846211433411, 0.9000000357627869, 1.133632779121399, 0.6270964741706848, 1.0625, 0.7353302836418152, 0, 0, -0.840287983417511 ], [ -1.3558249473571777, 0.9125000238418579, 2.143131971359253, 0.6462903022766113, 1.0625, 0.7366752028465271, ...

[ "chair", "chair", "chair", "chair", "table", "bowl", "placemat", "shelf" ]

NYU1430

SUNRGBD/kv1/NYUdata/NYU1430

561

427

[ "cabinet", "chair", "table", "wall" ]

[ [ 0.022395748645067215, 0.24996531009674072, 3.069016933441162, 0.011180290021002293, 2.2666330337524414, 3.7593562602996826, 0, 0, -0.853525698184967 ], [ 2.004978656768799, 0.15388476848602295, 3.5683865547180176, 1.8485538959503174, 2.074471950531006, ...

[ "wall", "wall", "table", "chair", "cabinet" ]

NYU1239

SUNRGBD/kv1/NYUdata/NYU1239

561

427

[ "books", "chair", "coffee_table", "endtable", "ottoman", "shelf", "sofa", "sofa_chair", "table" ]

[ [ 2.2056338787078857, 0.9312499761581421, 1.991342306137085, 2.2377796173095703, 0.875, 0.9252552390098572, 0, 0, -0.014704822562634945 ], [ 0.42523202300071716, 0.925000011920929, 1.2322758436203003, 0.7645672559738159, 0.9125000238418579, 0.854365408...

[ "sofa", "sofa_chair", "endtable", "books", "sofa_chair", "ottoman", "coffee_table", "sofa_chair", "chair", "chair", "chair", "table", "shelf" ]

NYU0880

SUNRGBD/kv1/NYUdata/NYU0880

561

427

[ "chair", "figurine", "island", "kitchen_counter", "menu" ]

[ [ -0.7866549491882324, 0.8374999761581421, 1.0677958726882935, 0.5864409804344177, 0.9874999523162842, 0.5635453462600708, 0, 0, -0.041642580181360245 ], [ -0.06249687448143959, 0.8437499403953552, 1.0499476194381714, 0.5124743580818176, 0.9749999642372131...

[ "chair", "chair", "figurine", "kitchen_counter", "chair", "chair", "island", "menu" ]

NYU1315

SUNRGBD/kv1/NYUdata/NYU1315

561

427

[ "bookshelf", "chair", "door", "ottoman", "sofa", "table", "wall" ]

[ [ -0.03151632472872734, 1.1443349123001099, 1.829980731010437, 0.6102972030639648, 0.4537544250488281, 0.6386521458625793, 0, 0, -2.6080915927886963 ], [ -1.0949510335922241, 0.6687155961990356, 1.8422855138778687, 0.3825557231903076, 1.4702503681182861, ...

[ "table", "wall", "wall", "wall", "wall", "wall", "sofa", "wall", "chair", "door", "ottoman", "bookshelf" ]

NYU0913

SUNRGBD/kv1/NYUdata/NYU0913

561

427

[ "bed", "blinds", "box", "drawer", "picture", "pictures", "tray", "tv" ]

[ [ -1.9985897541046143, 1.0604164600372314, 2.4841322898864746, 1.596455693244934, 0.7749999761581421, 1.8865110874176025, 0, 0, -1.8254525661468506 ], [ -2.0817365646362305, 0.060416411608457565, 4.408495903015137, 0.9250792860984802, 1.524999976158142, ...

[ "bed", "blinds", "blinds", "tv", "box", "picture", "picture", "tray", "drawer", "pictures" ]

NYU1415

SUNRGBD/kv1/NYUdata/NYU1415

561

427

[ "chair", "table", "wall" ]

[ [ -0.4208207428455353, 0.020768284797668457, 3.243624448776245, 0.03221374377608299, 2.6869707107543945, 3.9689385890960693, 0, 0, -0.5770914554595947 ], [ 1.2325619459152222, -0.040657877922058105, 4.490649700164795, 1.4263774156570435, 2.590268611907959,...

[ "wall", "wall", "wall", "wall", "wall", "table", "chair", "chair", "chair", "chair", "chair", "chair", "chair", "chair" ]

NYU1432

SUNRGBD/kv1/NYUdata/NYU1432

561

427

[ "cabinet", "chair", "table", "wall" ]

[ [ -2.0781407356262207, -0.20460915565490723, 5.384263038635254, 0.08776286244392395, 2.904357433319092, 4.180088996887207, 0, 0, -2.3353681564331055 ], [ -0.2444208711385727, -0.1851346492767334, 4.310860633850098, 1.0604921579360962, 2.865408420562744, ...

[ "wall", "wall", "wall", "table", "chair", "chair", "chair", "chair", "chair", "cabinet" ]

NYU1264

SUNRGBD/kv1/NYUdata/NYU1264

561

427

[ "sofa_chair", "wall" ]

[ [ -0.22358454763889313, 0.3104845881462097, 2.6428568363189697, 2.3306591510772705, 1.7990022897720337, 0.022136522457003593, 0, 0, -2.64215350151062 ], [ 1.1883474588394165, 0.3008711338043213, 2.3362252712249756, 0.03326529636979103, 1.7797753810882568, ...

[ "wall", "wall", "sofa_chair", "sofa_chair", "sofa_chair" ]

NYU0849

SUNRGBD/kv1/NYUdata/NYU0849

561

427

[ "island", "kitchen_cabinet", "kitchen_counter", "stove", "toasteroven" ]

[ [ 0.42335525155067444, 0.9291664361953735, 2.2054967880249023, 3.5139873027801514, 0.8625000715255737, 2.7217061519622803, 0, 0, 0.10133414715528488 ], [ 0.5232262015342712, 0.4479164481163025, 3.367250919342041, 1.1625415086746216, 0.125, 0.5374881625...

[ "kitchen_counter", "stove", "toasteroven", "island", "kitchen_cabinet" ]

NYU0590

SUNRGBD/kv1/NYUdata/NYU0590

561

427

[ "cabinet", "sofa_chair", "wall" ]

[ [ -0.43578040599823, 0.11255989223718643, 3.672039747238159, 0.019591908901929855, 2.3870456218719482, 4.159846305847168, 0, 0, -0.5382842421531677 ], [ 1.5957067012786865, 0.04830632358789444, 4.765936851501465, 2.3688864707946777, 2.273131847381592, ...

[ "wall", "wall", "sofa_chair", "sofa_chair", "cabinet" ]

NYU0784

SUNRGBD/kv1/NYUdata/NYU0784

561

427

[ "fridge", "kitchen_cabinet", "kitchen_counter", "microwave", "potholder", "ricecooker", "stool", "stove", "tray" ]

[ [ 0.8616201281547546, 0.9500000476837158, 1.002694845199585, 0.7846826910972595, 1.037500023841858, 0.7854953408241272, 0, 0, -1.597530722618103 ], [ 1.010115623474121, 0.39375004172325134, 1.6680760383605957, 0.574714720249176, 0.30000001192092896, 0....

[ "stove", "microwave", "tray", "kitchen_counter", "kitchen_cabinet", "fridge", "kitchen_counter", "ricecooker", "stool", "potholder" ]

NYU0965

SUNRGBD/kv1/NYUdata/NYU0965

561

427

[ "bed", "dresser", "night_stand", "painting", "picture", "pillow", "recliner" ]

[ [ 1.0101755857467651, 0.9479163885116577, 1.6600472927093506, 1.7969549894332886, 0.824999988079071, 0.39152640104293823, 0, 0, 1.2089406251907349 ], [ 0.29364675283432007, 0.8565623760223389, 2.3996360301971436, 0.8577300310134888, 0.9327080845832825, ...

[ "dresser", "recliner", "night_stand", "pillow", "pillow", "pillow", "painting", "picture", "picture", "bed" ]

NYU0892

SUNRGBD/kv1/NYUdata/NYU0892

561

427

[ "books", "coffeemaker", "kitchen_cabinet", "kitchen_counter", "stove" ]

[ [ -0.6862673759460449, -0.3604170083999634, 2.5440704822540283, 1.591442584991455, 0.7083332538604736, 0.9096664190292358, 0, 0, 0.37350133061408997 ], [ -0.41601893305778503, 0.8916664719581604, 1.679748773574829, 2.6563079357147217, 0.9125000238418579, ...

[ "kitchen_cabinet", "kitchen_counter", "stove", "coffeemaker", "books" ]

NYU0260

SUNRGBD/kv1/NYUdata/NYU0260

561

427

[ "chair", "picture", "sofa", "table" ]

[ [ 0.03150666877627373, -0.7250000238418579, 2.911743640899658, 0.5770949721336365, 0.612500011920929, 0.11159294843673706, 0, 0, -0.328125 ], [ -0.9184367656707764, -0.23125000298023224, 3.1709232330322266, 0.4130079448223114, 0.375, 0.0853273272514343...

[ "picture", "picture", "table", "chair", "chair", "table", "sofa" ]

NYU0024

SUNRGBD/kv1/NYUdata/NYU0024

561

427

[ "ceiling", "cupboard", "emergencylight", "printer", "scanner", "shelf", "side_table", "wall" ]

[ [ -0.75725919008255, -0.19045230746269226, 3.0741753578186035, 0.04882688447833061, 3.0396687984466553, 2.049476146697998, 0, 0, -0.4987429976463318 ], [ 0.8714396357536316, -1.489362120628357, 3.3563015460968018, 2.639528512954712, 0.5061320662498474, ...

[ "wall", "wall", "wall", "ceiling", "side_table", "wall", "cupboard", "shelf", "printer", "scanner", "printer", "emergencylight" ]

NYU0678

SUNRGBD/kv1/NYUdata/NYU0678

561

427

[ "bathroomvanity", "door", "garbage_bin", "shoe", "toilet", "towel", "wall" ]

[ [ -0.9368730187416077, 0.4922909140586853, 1.8370308876037598, 0.36364927887916565, 1.6060616970062256, 0.10133025050163269, 0, 0, -0.0019059913465753198 ], [ 0.11322277784347534, 0.4963459372520447, 2.9126906394958496, 0.8366838693618774, 1.61194038391113...

[ "wall", "wall", "door", "toilet", "wall", "garbage_bin", "door", "bathroomvanity", "shoe", "towel" ]

NYU0141

SUNRGBD/kv1/NYUdata/NYU0141

561

427

[ "aircon", "gasrange", "ladder" ]

[ [ 0.6733661890029907, 0.4874999523162842, 0.7049248814582825, 0.742447555065155, 1.212499976158142, 0.7933958768844604, 0, 0, -1.477319359779358 ], [ -0.004189041908830404, 0.10625001788139343, 1.6550514698028564, 0.8134956955909729, 0.44999998807907104, ...

[ "gasrange", "aircon", "ladder" ]

NYU0779

SUNRGBD/kv1/NYUdata/NYU0779

561

427

[ "fridge", "kettle", "kitchen_cabinet", "kitchen_counter", "knives", "stove" ]

[ [ -1.4875004291534424, 0.4090909957885742, 0.8312503099441528, 0.7375004291534424, 0.24545469880104065, 0.6125002503395081, 0, 0, -1.5707963705062866 ], [ -1.4992971420288086, 0.29999998211860657, 0.9523081183433533, 0.284361332654953, 0.21250014007091522,...

[ "stove", "kettle", "knives", "kitchen_counter", "fridge", "kitchen_cabinet" ]

NYU1186

SUNRGBD/kv1/NYUdata/NYU1186

561

427

[ "bed", "night_stand", "pillow", "television", "wall" ]

[ [ -0.5146387219429016, 0.33126285672187805, 3.6299448013305664, 2.7252583503723145, 1.8210769891738892, 0.06884698569774628, 0, 0, -2.774653434753418 ], [ 1.2520649433135986, 0.4086809456348419, 2.798548460006714, 0.02658247761428356, 1.870940089225769, ...

[ "wall", "wall", "bed", "pillow", "night_stand", "bed", "television" ]

NYU0273

SUNRGBD/kv1/NYUdata/NYU0273

561

427

[ "chair", "table" ]

[ [ 0.8863630294799805, 0.9727281332015991, 2.877274751663208, 2.5513083934783936, 0.8636371493339539, 0.7880309820175171, 0, 0, 0.28906768560409546 ], [ 0.7636358737945557, 0.954546332359314, 2.472728967666626, 0.5607698559761047, 0.9181826114654541, 0....

[ "table", "chair", "chair", "chair", "chair" ]

NYU1056

SUNRGBD/kv1/NYUdata/NYU1056

561

427

[ "bed", "bunk_bed", "chair", "garbage_bin", "pillow" ]

[ [ 0.24373182654380798, 0.8737499117851257, 2.5117533206939697, 0.6506744027137756, 0.8900001645088196, 0.6802452802658081, 0, 0, -0.07646485418081284 ], [ 1.1374315023422241, 0.47096607089042664, 2.502974271774292, 0.462472140789032, 0.3794321119785309, ...

[ "chair", "pillow", "garbage_bin", "pillow", "bed", "bunk_bed" ]

NYU0062

SUNRGBD/kv1/NYUdata/NYU0062

561

427

[ "case", "door", "dresser", "lotion", "tv", "wall" ]

[ [ -0.31287020444869995, 0.18218070268630981, 1.9697588682174683, 1.698164463043213, 1.9181352853775024, 0.04921988025307655, 0, 0, -2.5885164737701416 ], [ 0.3738194406032562, 0.2955760955810547, 2.209104537963867, 0.28018009662628174, 1.6913444995880127, ...

[ "wall", "wall", "wall", "wall", "dresser", "tv", "door", "case", "lotion" ]

NYU0578

SUNRGBD/kv1/NYUdata/NYU0578

561

427

[ "cubby", "island", "wall" ]

[ [ -1.4197754859924316, 0.5403077602386475, 2.2470545768737793, 0.13282330334186554, 1.838938593864441, 0.004904572386294603, 0, 0, -0.0779302641749382 ], [ -1.466009497642517, 0.5422738194465637, 1.491443395614624, 0.010447129607200623, 1.841954231262207, ...

[ "wall", "wall", "island", "wall", "cubby" ]

NYU0414

SUNRGBD/kv1/NYUdata/NYU0414

561

427

[ "chair", "door", "garbage_bin", "organizer", "plate", "shelf", "table", "tray", "waterdispenser" ]

[ [ 0.9627288579940796, 0.893750011920929, 1.42253839969635, 0.5116648077964783, 0.8500000238418579, 0.6237969398498535, 0, 0, -1.54448664188385 ], [ 0.9678897261619568, 0.887499988079071, 1.9530185461044312, 0.462165892124176, 0.8374999761581421, 0.6254...

[ "chair", "chair", "chair", "chair", "chair", "chair", "table", "table", "table", "table", "tray", "tray", "plate", "garbage_bin", "waterdispenser", "shelf", "organizer", "door" ]

NYU1110

SUNRGBD/kv1/NYUdata/NYU1110

561

427

[ "bed", "lamp", "night_stand", "nightstand", "pillow", "wall" ]

[ [ -2.2667250633239746, 0.14455440640449524, 4.023028373718262, 0.08298816531896591, 2.183295249938965, 0.9205306172370911, 0, 0, -0.579014241695404 ], [ -0.33583223819732666, 0.21825584769248962, 3.3108084201812744, 4.094763278961182, 2.330698251724243, ...

[ "wall", "wall", "bed", "night_stand", "pillow", "pillow", "pillow", "pillow", "pillow", "pillow", "nightstand", "lamp" ]

NYU1242

SUNRGBD/kv1/NYUdata/NYU1242

561

427

[ "cabinet", "ceiling", "shelf", "sofa", "table", "wall" ]

[ [ -3.3036391735076904, -0.12916839122772217, 9.346409797668457, 3.1001405715942383, 2.3026833534240723, 0.014507259242236614, 0, 0, 0.039458442479372025 ], [ -1.284972071647644, -0.08384180068969727, 6.996703147888184, 0.05167495086789131, 2.27652144432067...

[ "wall", "wall", "wall", "wall", "ceiling", "wall", "wall", "table", "sofa", "cabinet", "shelf" ]

NYU0632

SUNRGBD/kv1/NYUdata/NYU0632

561

427

[ "coffee_table", "endtable", "garbage_bin", "sofa", "sofa_chair", "wall", "whiteboard" ]

[ [ 1.8623032569885254, -0.4124999940395355, 4.4429240226745605, 1.263497233390808, 1.337499976158142, 0.2216712236404419, 0, 0, 2.132004976272583 ], [ -1.2811459302902222, -0.24406763911247253, 6.639883041381836, 4.270997524261475, 2.6363015174865723, 0...

[ "whiteboard", "wall", "sofa", "sofa_chair", "endtable", "sofa_chair", "coffee_table", "coffee_table", "garbage_bin" ]

NYU0577

SUNRGBD/kv1/NYUdata/NYU0577

561

427

[ "cubby", "island", "kitchen_cabinet", "person" ]

[ [ -2.272526502609253, 0.4937504827976227, 0.780732274055481, 1.286465048789978, 1.899999976158142, 0.4674471914768219, 0, 0, -1.5707964897155762 ], [ -0.6687497496604919, -0.1562497317790985, 1.5187499523162842, 0.7001116275787354, 0.4750000238418579, ...

[ "cubby", "kitchen_cabinet", "island", "person" ]

NYU0018

SUNRGBD/kv1/NYUdata/NYU0018

561

427

[ "box", "ceiling", "file_cabinet", "ladder", "shelf", "wall" ]

[ [ -0.2977096438407898, -1.0374034643173218, 2.195983409881592, 2.545948028564453, 0.010573181323707104, 2.276304244995117, 0, 0, -2.9676575660705566 ], [ -0.4910443127155304, 0.1583261489868164, 3.3093831539154053, 2.5414140224456787, 2.381742477416992, ...

[ "ceiling", "wall", "wall", "wall", "wall", "wall", "wall", "wall", "wall", "wall", "box", "shelf", "file_cabinet", "shelf", "ladder" ]

NYU1326

SUNRGBD/kv1/NYUdata/NYU1326

561

427

[ "pillow", "sofa", "wall" ]

[ [ -0.7032923102378845, 0.2622912526130676, 1.5689411163330078, 0.6748698949813843, 1.910918951034546, 0.035306576639413834, 0, 0, -0.13191206753253937 ], [ -0.2404399961233139, 0.2651279866695404, 1.616085410118103, 0.3430621922016144, 1.9138253927230835, ...

[ "wall", "wall", "wall", "wall", "wall", "sofa", "pillow" ]

NYU1272

SUNRGBD/kv1/NYUdata/NYU1272

561

427

[ "coffee_table", "pillow", "sofa", "wall" ]

[ [ -1.8166565895080566, 1.0123875141143799, 4.543140888214111, 0.9355021715164185, 0.8606227040290833, 2.20389986038208, 0, 0, -0.19672273099422455 ], [ -1.7995262145996094, 0.7544398903846741, 4.30385684967041, 0.24007917940616608, 0.4174998998641968, ...

[ "sofa", "pillow", "pillow", "sofa", "pillow", "pillow", "pillow", "pillow", "wall", "wall", "wall", "wall", "wall", "wall", "sofa", "coffee_table" ]

NYU1161

SUNRGBD/kv1/NYUdata/NYU1161

561

427

[ "box", "dresser", "table", "wall" ]

[ [ -0.9985136389732361, 0.42787787318229675, 2.637482166290283, 0.02717103250324726, 1.8486688137054443, 1.8148921728134155, 0, 0, -0.740433394908905 ], [ 0.40727847814559937, 0.42929476499557495, 2.5578012466430664, 2.205916166305542, 1.7872440814971924, ...

[ "wall", "wall", "dresser", "table", "box" ]

NYU0925

SUNRGBD/kv1/NYUdata/NYU0925

561

427

[ "chair", "drawer" ]

[ [ 1.1184920072555542, 0.8916663527488708, 2.651005268096924, 0.5851833820343018, 0.8374999761581421, 0.8105032444000244, 0, 0, -0.9838582873344421 ], [ 1.3198853731155396, 0.8979163765907288, 1.9539045095443726, 0.6652655005455017, 0.8499999642372131, ...

[ "chair", "chair", "drawer" ]

NYU0420

SUNRGBD/kv1/NYUdata/NYU0420

561

427

[ "box", "door", "table", "wall" ]

[ [ -0.5067238211631775, 0.019440174102783203, 5.299787521362305, 2.67533278465271, 2.3128793239593506, 0.05012516304850578, 0, 0, -2.529827833175659 ], [ -1.791084885597229, 0.025478005409240723, 4.831684589385986, 0.021894238889217377, 2.3008036613464355, ...

[ "wall", "wall", "door", "wall", "wall", "box", "table", "box" ]

NYU0140

SUNRGBD/kv1/NYUdata/NYU0140

561

427

[ "bowl", "canopener", "coffeemaker", "grillbar", "kitchen_cabinet", "kitchen_counter", "pitcher", "sink" ]

[ [ 0.7625004053115845, 0.2812497615814209, 0.7687503695487976, 0.23750019073486328, 0.10000000894069672, 0.2375001609325409, 0, 0, -1.5410513753977284e-7 ], [ 0.41938892006874084, 0.14999979734420776, 0.9871379733085632, 0.23914287984371185, 0.3375000059604...

[ "bowl", "coffeemaker", "sink", "grillbar", "kitchen_counter", "pitcher", "canopener", "kitchen_cabinet" ]

NYU1039

SUNRGBD/kv1/NYUdata/NYU1039

561

427

[ "box", "bunk_bed", "garbage_bin", "pillow", "wall" ]

[ [ -1.168468713760376, 0.31530269980430603, 3.556579113006592, 0.05428954213857651, 1.8728760480880737, 2.6247451305389404, 0, 0, -0.7675766944885254 ], [ 0.7923454642295837, 0.3404030501842499, 3.4878716468811035, 2.971585750579834, 1.9230766296386719, ...

[ "wall", "wall", "pillow", "box", "garbage_bin", "pillow", "pillow", "bunk_bed" ]

NYU1134

SUNRGBD/kv1/NYUdata/NYU1134

561

427

[ "box", "chair", "drawer", "table", "tv", "wall" ]

[ [ -1.2641862630844116, 0.6069451570510864, 2.609428882598877, 0.017614558339118958, 1.4588520526885986, 1.1903979778289795, 0, 0, -0.6115926504135132 ], [ 0.09200078994035721, 0.574922502040863, 2.371041774749756, 2.511988401412964, 1.5530898571014404, ...

[ "wall", "wall", "table", "chair", "tv", "box", "drawer" ]