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scout-routing-data

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SCOUT Routing Dataset

Dataset for "Which Reconstruction Model Should a Robot Use? Routing Image-to-3D Models for Cost-Aware Robotic Manipulation."

Contents

Reconstruction scores and image features for routing among 4 Image-to-3D models (Hunyuan3D, InstantMesh, TRELLIS, TripoSR).

Each .npz file contains:

  • y_all: Reconstruction scores for each model
  • all_embeddings: Concatenated image features (CLIP ViT-B/32, ResNet-50, ViT-B/16, ConvNeXt-B)
  • all_metadata: Object and viewpoint metadata

Files

  • gso_data_huny_inst_trel_trip_dcd.npz — GSO dataset, DCD metric
  • ycb_data_huny_inst_trip_trel_dcd.npz — BigBIRD+YCB, DCD metric
  • ycb_data_huny_inst_trip_trel_cdl1.npz — BigBIRD+YCB, Chamfer L1
  • ycb_data_huny_inst_trip_trel_cdl2.npz — BigBIRD+YCB, Chamfer L2
  • ycb_data_huny_inst_trip_trel_emd.npz — BigBIRD+YCB, MMD-EMD
  • ycb_data_huny_inst_trip_trel_geo.npz — BigBIRD+YCB, Eval3D-geo
  • ycb_data_huny_inst_trip_trel_struct.npz — BigBIRD+YCB, Eval3D-struct
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