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Access is granted on request. This data is derived from InternScenes (CC BY-NC-SA 4.0) and inherits its NonCommercial and ShareAlike terms.
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InternScenes SSP records
Per-object and per-scene encoder records for the InternScenes indoor scene corpus: sampled surface geometry paired with DINOv3 patch features.
405,139 records, 425 GB, delivered as ~110 uncompressed tar shards of about 4 GB each.
| group | records | size |
|---|---|---|
objects |
381,365 | 253 GB |
scenes/gen |
14,089 | 133 GB |
scenes/real |
9,583 | 38 GB |
scenes/synthetic |
92 | 0.3 GB |
Layout
objects/objects-000NN.tar # unpacks to objects/<uid>.npz
scenes-gen/scenes-gen-000NN.tar # unpacks to scenes/gen/<room>/<id>.npz
scenes-real/... # scenes/real/{scannet,matterport3d,3rscan,arkitscenes}/...
scenes-synthetic/... # scenes/synthetic/<id>.npz
index.csv.gz # record -> shard -> bytes, for every record
proj_W_1024x3201.npy # DINO -> SSP projection
index.csv.gz lets you locate a single record without unpacking anything:
import pandas as pd
idx = pd.read_csv("index.csv.gz")
idx[idx.record == "scenes/synthetic/0059.npz"] # -> which shard to download
Record schema
Each .npz stores raw components. Scene records concatenate their objects; object records hold one.
| key | shape | dtype | meaning |
|---|---|---|---|
mesh_pos |
(N, 3) | float32 | patch centroids, normalized frame |
mesh_nrm |
(N, 3) | float32 | patch normals |
pooled_cov |
(M, 1024) | float16 | DINOv3 patch features, covered patches only |
cov |
(N,) | bool | which patches carry appearance features |
owner |
(N,) | int32 | index into the group_* arrays (scene records) |
group_key / group_uid |
(G,) | str | per-object identifiers |
group_cat |
(G,) | str | category label (structure for walls/floor/ceiling) |
group_bbox |
(G, 9) | float32 | 9-DoF box: centre, extent, rotation |
scene_C / scene_S |
(3,) / () | float32 | normalization offset and scale |
n_per_object |
() | int32 | patches per object |
ssp_dim, ls_pos, ls_nrm |
() | int32/float32 | encoder parameters |
scene_set, scene_name |
() | str | provenance |
pooled_cov is compacted to covered patches, so scatter it back before use:
import numpy as np
z = np.load("scenes/synthetic/0059.npz")
pooled = np.zeros((len(z["mesh_pos"]), 1024), np.float32)
pooled[z["cov"]] = z["pooled_cov"]
World coordinates: mesh_pos * scene_S + scene_C.
proj_W_1024x3201.npy is a seeded draw and reproducible independently:
W = (np.random.default_rng(0).standard_normal((1024, 3201)) / np.sqrt(1024)).astype(np.float32)
Known gaps
Five synthetic scenes have no record (0004, 0026, 0088, 0090, 0097).
Provenance and license
Source scenes: InternScenes, CC BY-NC-SA 4.0. This derived data is released under the same license, and NonCommercial and ShareAlike terms carry over. Cite InternScenes if you use it:
@inproceedings{InternScenes,
title={InternScenes: A Large-scale Interactive Indoor Scene Dataset with Realistic Layouts},
author={Lin, Weipeng and Cao, Peizhou and Jin, Yichen and Li, Luo and Cai, Wenzhe and
Lin, Jingli and Lyu, Zhaoyang and Wang, Tai and Dai, Bo and Xu, Xudong and Pang, Jiangmiao},
booktitle={arXiv},
year={2025}
}
Appearance features are patch embeddings from
DINOv3 ViT-L/16
(facebook/dinov3-vitl16-pretrain-lvd1689m) and are subject to the DINOv3 license.
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