Table 7: Proposed distribution of ScanNet200 classes across tasks for each split. We show the classes that are known when training the model during a specific task for the three splits.
Split A	Split B	Split C
Task 1	Task 2	Task 3	Task 1	Task 2	Task 3	Task 1	Task 2	Task 3	Task 2	Task 3
tv stand	cushion	paper	alarm clock	guitar	bar	basket	ironing board	mattress
curtain	end table	plate	backpack	paper towel roll	basket	trash can	diviner	toaster
blinds	dining table	soap dispenser	bag	book	bathroom cabinet	stair rail	oven	stool
shower curtain	keyboard	bucket	bed	bookshelf	bathroom counter	toaster oven	dish rack	plant
bookshelf	bag	clock	blanket	cart	bathroom stall	laundry hamper	shower door	folded chair
tv	toilet paper	guitar	case of water bottles	furniture	bathroom stall door	bullet	mini fridge	microwave
kitchen cabinet	printer	toilet paper holder	ceiling	blackboard	bathroom vanity	dining table	bicycle	cushion
pillow	blanket	speaker	closet	projector	bathtub	stuffed animal	laptop	bench
lamp	microwave	cup	closet door	seat	bottle	bathroom vanity	armchair	soap dispenser
dresser	shoe	paper towel roll	closet wall	folded chair	broom	cock	couch	storage organizer
monitor	computer tower	bar	clothes	office chair	clothes dryer	ceiling	coffee kettle	shower curtain
object	bottle	toaster	coat rack	projector screen	cushion	potted plant	counter	cart
ceiling	bin	ironing board	container	whiteboard	doorframe	luggage	structure	kitchen counter
board	otoman	soap dish	curtain	bin	fire alarm	clutter wall	pipe	towel
stove	bench	toilet paper dispenser	door	bucket	hair dryer	desk	bow	blackboard
closet wall	basket	fire extinguisher	dresser	button	handicap bar	dugger	shower curtain rod	TV
coach	fan	ball	dumbbell	coper	ledge	objects	sofa chair	printer
office chair	laptop	hat	fan	machine	light switch	rail	clothes dryer	stand
kitchen counter	person	hat	guitar case	mailbox	mat	tissue box	coffee table	rack
shower	paper towel dispenser	shower curtain rod	hat	paper cutter	mirror	plate	stairs	bathroom counter
closet	paper towel dispenser	paper cutter	ironing board	primer	paper towel dispenser	keyboard	toilet seat cover dispenser	closet rod
dungeon	oven	tray	lamp	column	plunger	hat	machine	bottle
doorframe	rack	toaster oven	laptop	storage container	scale	copier	paper bag	range hood
sofa chair	piano	mouse	laundry basket	blinds	shower	sheet	book	purse
mailbox	suitcase	toilet seat cover dispenser	laundry hamper	structure	shower curtain	bed	blinds	candle
nightstand	rail	storage container	luggage	water bottle	shower curtain rod	paper towel dispenser	monitor	person
washing machine	container	scale	mattress	ball	shower door	fire extinguisher	shower wall	coffee maker
picture	telephone	tissue box	mini fridge	board	shower floor	paper towel roll	curtain	light switch
book	stand	light switch	nightstand	box	shower head	backpack	closet	storage container
sink	light	crate	object	cabinet	shower wall	water bottle	telephone	bathroom stall door
recycling bin	laundry basket	power outlet	pillow	cd case	sink	stove	bean bag	kitchen floor
table	pipe	sign	poster	ceiling light	soap dish	laundry basket	bucket	refrigerator
backpack	seat	projector	power outlet	clock	soap dispenser	alarm clock	sign	refrigerator
toilet	bicycle	plunger	purse	computer tower	toilet	headphones	mirror	tube
copier	ladder	stuffed animal	rack	cup	toilet paper	piano	clock	toilet paper holder
counter	jacket	headphones	recycling bin	desk	toilet paper dispenser	guitar	nightstand	ceiling light
stool	storage bin	broom	shelf	divider	toilet paper holder	bag	tv stand	picture
refrigerator	coffee maker	guitar case	shoe	file cabinet	toilet seat cover dispenser	door	handicap bar	end table
window	dishwasher	dustpan	sign	headphones	towel	speaker	poster	closet door
file cabinet	machine	hair dryer	storage bin	keyboard	trash bin	water cooler	blanket	file cabinet
chair	mat	water bottle	power outlet	monitor	washing machine	cup	cup	crate
plant	windowsill	handicap bar	tissue box	mouse	dustpan	water pitcher	recycling bin	toilet paper dispenser
coffee table	bullet board	purse	tissue box	paper	laundry detergent	dumbbell	lamp	pillow
stairs	fireplace	vent	wardrobe	person	stuffed animal	furniture	scale	mat
armchair	mini fridge	shower floor	decoration	power strip	stuffed animal	door	handicap bar	end table
cabinet	water cooler	water heater	armchair	radiator	bowl	door	handicap bar	end table
bathroom vanity	shower door	bowl	storage bin	keyboard	cell phone	toilet	handicap bar	end table
chair	patel	paper bag	candle	telephone	coffee kettle	plunger	otoman	container
mirror	lidge	alarm clock	chair	tray	coffee maker	shower	paper	sleet
blackboard	furniture	music stand	chair	tube	counter	bar	powder strip	jacket
trash can	cart	laundry detergent	coffee table	window sill	dishwasher	fire extinguisher	fireplace	dresser
stair rail	correction	dumbbell	couch	pipe	dish rack	suitcase	doufframe	dustpan
box	closet door	tube	dining table	pipe	fire extinguisher	cabinet	toilet	table
toilet	vacuum cleaner	cd case	end table	stair rail	kitchen cabinet	board	toilet	projector
dinner	dishware	toilet screen	fireplace	stairs	kitchen counter	toilet	handy detergent	toilet
clothes	range hood	coffee kettle	cup	oven	oven	toilet	cleaning machine	toilet
whiteboard	projector screen	shower head	keyboard piano
bed	division	keyboard piano	light
bathroom counter	toilet counter	case of water bottles	music stand	plate
clothes	laundry hamper	coat rack	ottoman
wardrobe	toilet stall door	folded chair	piano
clothes dryer	ceiling light	fire alarm	picture
radiator	trash bin	power strip	pillar
shelf	trash bin	color card	potted plant
radiator	structure	poster	table
shelf	storage organizer	potted plant	vacuum cleaner