DATASETS.md

September 6, 2023 · View on GitHub

To make things easier we expect data folder of particular structure or symlink presented in habitat-lab working directory.

Scenes datasets

Scenes modelsExtract pathArchive size
Habitat test scenesdata/scene_datasets/habitat-test-scenes/{scene}.glb89 MB
ReplicaCADdata/scene_datasets/replica_cad/configs/scenes/{scene}.scene_instance.json123 MB
HM3Ddata/scene_datasets/hm3d/{split}/00\d\d\d-{scene}/{scene}.basis.glb130 GB
Gibsondata/scene_datasets/gibson/{scene}.glb1.5 GB
MatterPort3Ddata/scene_datasets/mp3d/{scene}/{scene}.glb15 GB
🆕 HSSD-Habitatdata/scene_datasets/hssd-hab/scenes/{scene}.scene_instance.jsonXXXXX GB
🆕 AI2-THOR-Habitatdata/scene_datasets/ai2thor-hab/ai2thor-hab/configs/scenes/{DATASET}/{scene}.scene_instance.jsonXXXXX GB

These datasets can be downloaded follow the instructions here.

Task datasets

TaskScenesLinkExtract pathConfig to useArchive size
Rearrange PickReplicaCADrearrange_pick_replica_cad_v0.zipdata/datasets/rearrange_pick/replica_cad/v0/datasets/rearrangepick/replica_cad.yaml11 MB
Point goal navigationGibsonpointnav_gibson_v1.zipdata/datasets/pointnav/gibson/v1/datasets/pointnav/gibson.yaml385 MB
Point goal navigationGibson 0+ (train)pointnav_gibson_0_plus_v1.zipdata/datasets/pointnav/gibson/v1/datasets/pointnav/gibson_0_plus.yaml321 MB
Point goal navigation corresponding to Sim2LoCoBot experiment configurationGibsonpointnav_gibson_v2.zipdata/datasets/pointnav/gibson/v2/datasets/pointnav/gibson_v2.yaml274 MB
Point goal navigationMatterPort3Dpointnav_mp3d_v1.zipdata/datasets/pointnav/mp3d/v1/datasets/pointnav/mp3d.yaml400 MB
Point goal navigationHM3Dpointnav_hm3d_v1.zipdata/datasets/pointnav/hm3d/v1/datasets/pointnav/hm3d.yaml992 MB
Object goal navigationMatterPort3Dobjectnav_mp3d_v1.zipdata/datasets/objectnav/mp3d/v1/datasets/objectnav/mp3d.yaml170 MB
Object goal navigationHM3DSem-v0.1objectnav_hm3d_v1.zipdata/datasets/objectnav/hm3d/v1/datasets/objectnav/hm3d.yaml154 MB
🆕 Object goal navigationHM3DSem-v0.2objectnav_hm3d_v2.zipdata/datasets/objectnav/hm3d/v2/datasets/objectnav/hm3d_v2.yaml245 MB
🆕 Object goal navigationHSSDobjectnav_hssd_v0.2.3.zipdata/datasets/objectnav/hssd-habdatasets/objectnav/hssd-hab.yaml206 MB
🆕 Object goal navigationProcTHOR-habobjectnav_procthor-hab.zipdata/datasets/objectnav/procthor-habdatasets/objectnav/procthor-hab.yaml755 MB
Embodied Question AnsweringMatterPort3Deqa_mp3d_v1.zipdata/datasets/eqa/mp3d/v1/datasets/eqa/mp3d.yaml44 MB
Visual Language NavigationMatterPort3Dvln_r2r_mp3d_v1.zipdata/datasets/vln/mp3d/r2r/v1datasets/vln/mp3d_r2r.yaml2.7 MB
Instance image goal navigationHM3DSem-v0.1instance_imagenav_hm3d_v1.zipdata/datasets/instance_imagenav/hm3d/v1/datasets/instance_imagenav/hm3d_v1.yaml303 MB
Instance image goal navigationHM3DSem-v0.2instance_imagenav_hm3d_v2.zipdata/datasets/instance_imagenav/hm3d/v2/datasets/instance_imagenav/hm3d_v2.yaml518 MB
🆕 Instance image goal navigationHM3DSem-v0.2instance_imagenav_hm3d_v3.zipdata/datasets/instance_imagenav/hm3d/v3/datasets/instance_imagenav/hm3d_v3.yaml517 MB
Image goal navigationGibsonpointnav_gibson_v1.zipdata/datasets/pointnav/gibson/v1/datasets/imagenav/gibson.yaml385 MB
Image goal navigationMatterPort3Dpointnav_mp3d_v1.zipdata/datasets/pointnav/mp3d/v1/datasets/imagenav/mp3d.yaml400 MB

To use an episode dataset, provide the related config to the Env in the example or use the config for RL agent training.