Upload HHOpenFunGraph extended annotations

.gitattributes

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README.md

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+---
+license: cc-by-nc-4.0
+task_categories:
+- object-detection
+- image-to-3d
+- text-to-3d
+language:
+- en
+tags:
+- 3d-scene-graph
+- indoor-scene-understanding
+- functional-scene-graph
+- open-vocabulary
+- robotics
+pretty_name: HHOpenFunGraph
+size_categories:
+- 1K<n<10K
+---
+
+# HHOpenFunGraph
+
+HHOpenFunGraph is an extended annotation release for OpenFunGraph. It adds dense tabletop objects and explicit hierarchical functional relationships for the FunGraph3D and modified SceneFun3D assets used by OpenFunGraph.
+
+This repository is annotation-only. Please download the original geometry, RGB, depth, trajectory, and video assets from:
+
+- https://huggingface.co/datasets/OpenFunGraph/FunGraph3D
+- https://huggingface.co/datasets/OpenFunGraph/SceneFun3D_Graph
+
+## Main Files
+
+- `annotations.json`: canonical extended node annotations for both datasets.
+- `relations.json`: canonical extended functional relationship annotations for both datasets.
+- `metadata.json`: release statistics and scene grouping.
+- `splits/`: copied OpenFunGraph evaluation split files.
+- `compat/`: files split and renamed to match the original OpenFunGraph dataset layout.
+- `scripts/verify_release.py`: lightweight consistency checker.
+
+## Compatibility Files
+
+For users of the original OpenFunGraph codebase:
+
+- `compat/FunGraph3D/FunGraph3D.annotations.json`
+- `compat/FunGraph3D/FunGraph3D.relations.json`
+- `compat/FunGraph3D/all_labels.json`
+- `compat/FunGraph3D/all_edges.json`
+- `compat/SceneFun3D_Graph/SceneFun3D.annotations.json`
+- `compat/SceneFun3D_Graph/SceneFun3D.relations.json`
+- `compat/SceneFun3D_Graph/all_labels.json`
+- `compat/SceneFun3D_Graph/all_edges.json`
+
+The compatibility files are derived from the canonical `annotations.json` and `relations.json`; they are provided for convenience rather than as a separate source of truth.
+
+## Statistics
+
+| Split | Scenes | Nodes | Edges | Labels | Edge Descriptions |
+| --- | ---: | ---: | ---: | ---: | ---: |
+| All | 34 | 1212 | 1030 | 141 | 60 |
+| FunGraph3D | 14 | 750 | 592 | 117 | 47 |
+| SceneFun3D_Graph | 20 | 462 | 438 | 68 | 33 |
+
+## Embeddings
+
+This release intentionally does not include CLIP/BERT embedding arrays unless they are regenerated from the extended `all_labels.json` and `all_edges.json` files. Do not reuse embedding arrays from the original OpenFunGraph release, because the label and edge vocabularies changed.
+
+## Verify
+
+```bash
+python scripts/verify_release.py
+```
+
+## Citation
+
+If you use this data, please cite OpenFunGraph and the HHOpenFunGraph paper/release when available.

annotations.json

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+version https://git-lfs.github.com/spec/v1
+oid sha256:fd3992b17b197ca7c2e801394586818c53975683820f7cc08b45b715c016d470
+size 176978514

compat/FunGraph3D/FunGraph3D.annotations.json

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c8af33a5a60e40586d57a7ced90d0fc0e033e531052ec0bb46f53c09a01b8eb1
+size 98776844

compat/FunGraph3D/all_edges.json

@@ -0,0 +1,49 @@
+[
+  "control",
+  "control the water flow",
+  "control to drain the water flow",
+  "control, turn on or turn off",
+  "grasp to carry",
+  "grasp to lift lid; lower to close lid",
+  "grasp to lift or lower (open or close lid)",
+  "grasp to lift or pour",
+  "lift to open or lower to close",
+  "operate or adjust the flow or setting",
+  "part of",
+  "part of, lift to open or lower to close (cover or uncover)",
+  "part of, open or close (cover or uncover)",
+  "part of, press or rotate to set time or mode",
+  "part of, press or rotate to set/start/stop/open",
+  "part of, press to set temperature or mode",
+  "part of, rotate to adjust temperature or setting",
+  "press or rotate to control the drain water flow",
+  "press or rotate to control the water flow",
+  "press or rotate to control the water flow, open or close drain",
+  "press or rotate to set/start/stop/open",
+  "press to flush",
+  "press to open or close, or to adjust the setting",
+  "press to start and operate",
+  "provide power",
+  "pull to open or close",
+  "pull to open or close a cabinet or drawer",
+  "pull to open or close a drawer",
+  "pull to open or close door",
+  "push or press to open",
+  "push/pull or twist to seal or release (open or close drain)",
+  "push/pull/slide to open or close",
+  "raise to open or lower to close",
+  "rotate to adjust temperature or setting",
+  "rotate to adjust temperature or setting, open or close",
+  "rotate to adjust the setting",
+  "rotate to adjust the setting or temperature, or to open or close",
+  "rotate to adjust the temperature",
+  "rotate to open or close",
+  "rotate to open or close, adjust the setting",
+  "rotate to open or close, or to adjust the setting and temperature",
+  "rotate to open or close, or to adjust the setting, time and temperature",
+  "rotate to open or close, or to adjust the temperature and setting",
+  "screw on or off to open or close",
+  "screw on or off to open or close / press to dispense",
+  "toggle power to boil",
+  "turn/press to unlatch, then push/pull to open or close"
+]

compat/FunGraph3D/all_labels.json

@@ -0,0 +1,119 @@
+[
+  "bathroom sink",
+  "bathroom vanity",
+  "bathtub",
+  "bottle",
+  "bottle / condiment",
+  "bottle / condiment / jar",
+  "bottle / pump bottle",
+  "bottle cap",
+  "bottle cap / condiment cap",
+  "bottle cap / condiment cap /  jar  lid",
+  "button",
+  "button / knob",
+  "button / knob / stopper",
+  "cabinet",
+  "cabinet door",
+  "cabinet door / fridge door",
+  "cap",
+  "cap / lid",
+  "cap / pump",
+  "ceiling light",
+  "ceiling light fixture",
+  "coffee machine",
+  "coffee maker",
+  "condiment / bottle / jar",
+  "control panel",
+  "cooker",
+  "desk drawer",
+  "dishwasher",
+  "dishwasher / cabinet door",
+  "dishwasher / washing machine",
+  "dishwasher button / dishwasher switch",
+  "dishwasher control panel",
+  "dishwasher door handle",
+  "door",
+  "drain stopper / sink stopper",
+  "drawer",
+  "drawer / cabinet door",
+  "drawer / kitchen cabinet",
+  "dresser / chest of drawers",
+  "electric cooker / rice cooker",
+  "electric outlet",
+  "electric outlet / switch panel",
+  "exhaust hood",
+  "fan",
+  "faucet / handle",
+  "fridge",
+  "fridge / cabinet door",
+  "handle",
+  "handle / knob",
+  "handle / pedal",
+  "jar",
+  "jar  lid",
+  "jar lid",
+  "kettle",
+  "kettle handle",
+  "kettle lid",
+  "kettle power switch",
+  "kitchen cabinet",
+  "kitchen cabinet / cabinet",
+  "kitchen cabinet / cabinet door",
+  "kitchen cabinet / drawer / cabinet door",
+  "kitchen cabinet / fridge",
+  "kitchen cabinet / kitchen counter",
+  "kitchen sink",
+  "knob",
+  "knob / handle",
+  "knob / handle / faucet",
+  "knob / start button",
+  "lamp",
+  "lid",
+  "lid knob",
+  "light fixture",
+  "light switch",
+  "microwave",
+  "microwave control panel",
+  "microwave door",
+  "microwave door handle",
+  "microwave oven",
+  "microwave oven / microwave",
+  "oven",
+  "oven control panel",
+  "oven door",
+  "oven door handle",
+  "oven knob",
+  "pedal",
+  "pot",
+  "pot handle",
+  "power button",
+  "power strip",
+  "power strip / electric outlet",
+  "power switch",
+  "radiator",
+  "range hood",
+  "refrigerator / cabinet",
+  "refrigerator door / cabinet door",
+  "remote",
+  "rice cooker",
+  "rice cooker handle",
+  "rice cooker lid",
+  "rice cooker lid knob",
+  "sink",
+  "sink stopper / drain stopper",
+  "switch",
+  "switch / electric outlet",
+  "switch panel",
+  "switch panel / electric outlet",
+  "television",
+  "toaster",
+  "toilet",
+  "toilet lid",
+  "trash can",
+  "trash can lid",
+  "trashcan",
+  "wardrobe",
+  "wardrobe door",
+  "window",
+  "window handle / window latch"
+]

compat/SceneFun3D_Graph/SceneFun3D.annotations.json

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+version https://git-lfs.github.com/spec/v1
+oid sha256:df9059c6440fad671fca269923ff5f44c16f0f3355eedb84d5edd69e18f6b378
+size 78201674

compat/SceneFun3D_Graph/all_edges.json

@@ -0,0 +1,35 @@
+[
+  "control",
+  "control the water flow",
+  "control, turn on or turn off",
+  "lift to open or lower to close",
+  "open or close drain",
+  "part of",
+  "part of, press to set temperature or mode",
+  "part of, rotate to adjust temperature or setting",
+  "press or rotate to  control the water flow",
+  "press or rotate to control the water flow",
+  "press or rotate to flush",
+  "press or rotate to open",
+  "press or rotate to set/start/stop/open",
+  "press to open or close, or adjust the setting",
+  "provide power",
+  "pull or rotate to open or close",
+  "pull to open or close",
+  "pull to open or close a drawer",
+  "pull to open or close door",
+  "push to flush",
+  "push/pull/slide to open or close",
+  "raise to open or lower to close",
+  "rotate or press to adjust the setting",
+  "rotate to adjust setting or temperature",
+  "rotate to adjust the setting",
+  "rotate to adjust the setting or open or close",
+  "rotate to adjust the temperature",
+  "rotate to control the water flow",
+  "rotate to flush",
+  "rotate to open or close",
+  "screw on or off to open or close",
+  "step to open or close lid",
+  "turn/press to unlatch, then push/pull to open or close"
+]

compat/SceneFun3D_Graph/all_labels.json

@@ -0,0 +1,70 @@
+[
+  "bathroom sink",
+  "bathtub",
+  "bottle",
+  "button",
+  "button / knob",
+  "button / knob / stopper",
+  "cabinet",
+  "cabinet / closet",
+  "cabinet / dresser / nightstand",
+  "cabinet door",
+  "cap",
+  "ceiling light",
+  "ceiling light fixture",
+  "chandelier / ceiling light",
+  "chest of drawers / dresser",
+  "control panel",
+  "dishwasher",
+  "door",
+  "doors",
+  "drawer",
+  "drawer / cabinet",
+  "dresser / chest of drawers",
+  "dresser / nightstand",
+  "dryer",
+  "electric outlet",
+  "electric outlet / power strip",
+  "exhaust hood / ventilation fan",
+  "faucet / knob / handle",
+  "foucet / handle",
+  "fridge",
+  "glass door",
+  "handle",
+  "handle / faucet",
+  "handle / foucet",
+  "kettle",
+  "kitchen cabinet",
+  "kitchen sink",
+  "knob",
+  "knob / button",
+  "lamp",
+  "laptop",
+  "lid",
+  "light bulb",
+  "light switch",
+  "microwave",
+  "nightstand / dresser",
+  "nightstand drawer",
+  "oven",
+  "oven door",
+  "oven door handle",
+  "pedal",
+  "power strip",
+  "projector",
+  "radiator",
+  "range hood",
+  "refrigerator door",
+  "remote",
+  "sink",
+  "switch panel",
+  "switch panel / electric outlet",
+  "television",
+  "television stand / cabinet",
+  "toilet",
+  "trash can",
+  "trashcan",
+  "wardrobe",
+  "washing machine",
+  "window"
+]

metadata.json

@@ -0,0 +1,159 @@
+{
+  "release_name": "HHOpenFunGraph",
+  "created_at": "2026-05-21T21:50:43",
+  "source_files": {
+    "annotations": "annotations.json",
+    "relations": "relations.json"
+  },
+  "statistics": {
+    "FunGraph3D": {
+      "scenes": 14,
+      "annotations": 750,
+      "relations": 592,
+      "labels": 117,
+      "edges": 47
+    },
+    "SceneFun3D_Graph": {
+      "scenes": 20,
+      "annotations": 462,
+      "relations": 438,
+      "labels": 68,
+      "edges": 33
+    },
+    "all": {
+      "scenes": 34,
+      "annotations": 1212,
+      "relations": 1030,
+      "labels": 141,
+      "edges": 60
+    }
+  },
+  "scene_groups": {
+    "FunGraph3D": [
+      "0kitchen",
+      "10kitchen",
+      "11bedroom",
+      "12kitchen",
+      "13bathroom",
+      "1bathroom",
+      "2livingroom",
+      "3kitchen",
+      "4livingroom",
+      "5kitchen",
+      "6kitchen",
+      "7bedroom",
+      "8bathroom",
+      "9bedroom"
+    ],
+    "SceneFun3D_Graph": [
+      "420683",
+      "421013",
+      "421015",
+      "421063",
+      "421254",
+      "421267",
+      "421380",
+      "421602",
+      "422007",
+      "422391",
+      "422813",
+      "422826",
+      "460417",
+      "460419",
+      "466183",
+      "466192",
+      "466803",
+      "467293",
+      "468076",
+      "469011"
+    ]
+  },
+  "scene_counts": {
+    "FunGraph3D": {
+      "annotations": {
+        "0kitchen": 112,
+        "10kitchen": 61,
+        "11bedroom": 18,
+        "12kitchen": 113,
+        "13bathroom": 46,
+        "1bathroom": 44,
+        "2livingroom": 14,
+        "3kitchen": 71,
+        "4livingroom": 66,
+        "5kitchen": 60,
+        "6kitchen": 69,
+        "7bedroom": 24,
+        "8bathroom": 32,
+        "9bedroom": 20
+      },
+      "relations": {
+        "0kitchen": 76,
+        "10kitchen": 66,
+        "11bedroom": 16,
+        "12kitchen": 90,
+        "13bathroom": 34,
+        "1bathroom": 24,
+        "2livingroom": 7,
+        "3kitchen": 61,
+        "4livingroom": 61,
+        "5kitchen": 63,
+        "6kitchen": 25,
+        "7bedroom": 30,
+        "8bathroom": 18,
+        "9bedroom": 21
+      }
+    },
+    "SceneFun3D_Graph": {
+      "annotations": {
+        "420683": 24,
+        "421013": 32,
+        "421015": 30,
+        "421063": 14,
+        "421254": 47,
+        "421267": 23,
+        "421380": 33,
+        "421602": 29,
+        "422007": 24,
+        "422391": 10,
+        "422813": 26,
+        "422826": 10,
+        "460417": 19,
+        "460419": 21,
+        "466183": 14,
+        "466192": 14,
+        "466803": 6,
+        "467293": 7,
+        "468076": 13,
+        "469011": 66
+      },
+      "relations": {
+        "420683": 22,
+        "421013": 26,
+        "421015": 23,
+        "421063": 9,
+        "421254": 64,
+        "421267": 21,
+        "421380": 40,
+        "421602": 34,
+        "422007": 33,
+        "422391": 4,
+        "422813": 17,
+        "422826": 6,
+        "460417": 15,
+        "460419": 23,
+        "466183": 6,
+        "466192": 9,
+        "466803": 4,
+        "467293": 5,
+        "468076": 12,
+        "469011": 65
+      }
+    }
+  },
+  "notes": [
+    "annotations.json and relations.json are the canonical extended annotation snapshots.",
+    "compat files are derived from the canonical snapshots for OpenFunGraph layout compatibility.",
+    "Original RGB/depth/scan/video assets are not duplicated in this release.",
+    "Embedding arrays are omitted unless regenerated from the extended vocabularies."
+  ]
+}

scripts/verify_release.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+import json
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[1]
+
+def load(path):
+    with (ROOT / path).open("r", encoding="utf-8") as f:
+        return json.load(f)
+
+def check(name, ann_path, rel_path):
+    anns = load(ann_path)
+    rels = load(rel_path)
+    annot_ids = {x["annot_id"] for x in anns}
+    missing = []
+    for rel in rels:
+        for key in ("first_node_annot_id", "second_node_annot_id"):
+            if rel[key] not in annot_ids:
+                missing.append((rel["relation_id"], key, rel[key]))
+    if missing:
+        raise SystemExit(f"{name}: missing endpoints: {missing[:5]} (total {len(missing)})")
+    print(f"{name}: ok ({len(anns)} nodes, {len(rels)} edges)")
+
+check("all", "annotations.json", "relations.json")
+check("FunGraph3D", "compat/FunGraph3D/FunGraph3D.annotations.json", "compat/FunGraph3D/FunGraph3D.relations.json")
+check("SceneFun3D_Graph", "compat/SceneFun3D_Graph/SceneFun3D.annotations.json", "compat/SceneFun3D_Graph/SceneFun3D.relations.json")

splits/FunGraph3D_OpenFunGraph_split.txt

@@ -0,0 +1,14 @@
+0kitchen/video0
+1bathroom/video0
+2livingroom/video0
+3kitchen/video0
+4livingroom/video1
+5kitchen/video0
+6kitchen/video1
+7bedroom/video0
+8bathroom/video1
+9bedroom/video1
+10kitchen/video1
+11bedroom/video1
+12kitchen/video0
+13bathroom/video0

splits/SceneFun3D_Graph_OpenFunGraph_split.txt

@@ -0,0 +1,23 @@
+dev
+420683/42445135
+421013/42444708
+421015/42444787
+421063/42444511
+421254/42444754
+421267/42444733
+421602/42445597
+422007/42446017
+
+test
+421380/42445022
+422391/42446522
+422813/42897545
+422826/42897541
+460417/44358451
+460419/44358446
+466183/45260920
+466192/45260899
+466803/45261133
+467293/45261615
+468076/45261631
+469011/45663164