Prepared Internet navigation videos, instructions, recorded simulation trajectories and evaluation selections for ScaleNav: Scalable Internet Video Pretraining for Language-Conditioned Local Navigation.

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Training data · Evaluation data · Access and preparation · Sources and license

To try navigation, start with the Habitat-GS-LN test subset. To check the training pipeline, start with the small training subset. Each linked guide covers the complete download and preparation process.

Training data

Selection and guide	Contents	Download	Prepared disk
Small training subset	17 Internet segments / 4 simulated episodes	55.60 MB	239.54 MB
Full training data	18,249 Internet segments / 2,600 simulated episodes, including validation	36.10 GB	153.04 GB

Evaluation data

Selection and guide	Contents	Download	Prepared disk
Habitat-GS-LN test subset	16 tasks / 13 scenes	991.32 MB	2.96 GB
Full Habitat-GS-LN	157 tasks / 45 scenes	3.17 GB	10.36 GB
Short-Horizon OVON test subset	7 tasks / 7 scenes	642.85 MB	642.90 MB
Full Short-Horizon OVON	524 tasks / 36 scenes	5.84 GB	3.67 GB

Test subsets contain selected successful ScaleNav cases for trying the pipeline. Use the full evaluation sets for benchmark scores.

Download includes all required sources; the HF sidebar counts only files hosted in this repository. Prepared disk includes prepared data and retained downloads after the guide's cleanup. Sizes use decimal MB/GB. Full OVON needs 9.34 GB before archive cleanup. Model weights, environments, latent caches and run outputs are separate. Exact size breakdowns.

Access and preparation

OVON test subset

This ScaleNav subset contains 7 selected Short-Horizon OVON tasks in 7 HM3D scenes. Accept the Matterport academic-use agreement on the subset access page. Access is granted automatically after submitting the form. After completing the installation, run from the ScaleNav repository root:

hf auth login
python scripts/prepare_data.py ovon --subset test_subset \
  --source data/upstream/evaluation/ovon \
  --scenes data/upstream/evaluation/hm3d \
  --output data/evaluation/ovon_test_subset --download

The command downloads only the required scene files, original navmeshes, semantic labels, task metadata and official ABotN starting poses, verifies their SHA-256 hashes and applies our instructions. No full HM3D archives are needed. Continue with OVON evaluation using EVAL_SET=ovon_test_subset.

The files are hosted in a separate access-controlled repository for the Matterport agreement. This page is the shared entry point for all ScaleNav data.

InteriorGS scenes

InteriorGS supports individual scene and file downloads. After obtaining official access, the preparation commands fetch only the files needed by the selected data split. The small training preview downloads one compressed scene (0003_839989, 43,943,514 bytes), alongside the 11,660,372-byte Internet pack and index. Habitat-GS-LN preparation likewise fetches only the required scene assets and labels. Neither requires downloading the entire InteriorGS dataset.

Scene files remain at their official sources under the InteriorGS terms. Our instructions, recorded trajectories and permitted Habitat-GS navmeshes are supplied separately and combined automatically during preparation.

internet/train-*.tar, internet/val.tar: selected SpatialVID-derived videos at 512×288 / 4 Hz. internet/train-smoke.tar is independently downloadable.
Each TAR contains videos/<clip-id>.mp4, annotations.jsonl, LICENSE and SOURCE.txt. Annotations include both canonical and paraphrased instructions, fixed splits, upstream archive paths and zero-based, end-exclusive frame bounds.
internet/videos.jsonl.gz: per-video hashes, sizes, frame counts, source identifiers and full-release archive membership.
internet/manifest.json: pack hashes and the associated annotation checksum.
annotations/internet.jsonl.gz: 18,249 accepted Internet navigation segments.
annotations/simulation.jsonl.gz, simulation.npz: 2,600 trajectories and their instructions, actions, poses and camera settings. No pickle is required.
annotations/evaluation/: separate Habitat-GS-LN and Short-Horizon OVON tasks.
evaluation/habitatgs_ln/navmeshes/: 45 original Habitat-GS navigation meshes (980,920 bytes), with source attribution.
annotations/prompts/: extraction, review, refinement and paraphrasing prompts.

Internet training and validation are disjoint by upstream clip ID. Simulation uses 618 training and 32 validation scenes, with no scene overlap; its 650 scenes are disjoint from the 45 Habitat-GS-LN evaluation scenes. The included annotations/manifest.json records fixed sample IDs and upstream revisions.

Simulation and evaluation

Download InteriorGS scenes from the official source and replay our recorded poses to render training video. Simulation scenes, rendered simulation videos and latent caches are not included in these Internet video packs.

The evaluation guide provides preparation and evaluation commands for both benchmarks. The test subsets contain selected successful ScaleNav cases, with paper examples first; use the full sets for benchmark scores.

The preparation command downloads the required original Habitat-GS navmeshes from this repository and verifies their SHA-256 hashes. Full Habitat-GS-LN reconstructs 39 scene visuals from official InteriorGS files; the pinned Habitat-GS collection supplies the remaining six scene visuals. Short-Horizon OVON uses unchanged original HM3D navmeshes, served in the compact subset or obtained from the official archives, and prepares target footprints and reference paths locally. These are closed-loop evaluations; observations are rendered during navigation.

Sources and license

The SpatialVID-derived videos and ScaleNav annotations use CC BY-NC-SA 4.0: attribute the original source and ScaleNav, retain license notices, identify changes, use the data noncommercially and share adaptations under the same license. Code uses a separate Apache-2.0 license.

SpatialVID-HQ, Jiahao Wang, Yufeng Yuan and collaborators (CVPR 2026): dataset, paper, code and license declaration. ScaleNav selected clips, resampled them to 512×288 / 4 Hz, and added navigation intervals, instructions, paraphrases and fixed splits. See the source and modification notice.
Habitat-GS: the 45 original evaluation navmeshes are included with the authors' permission and retain their upstream terms. The ScaleNav annotation license does not relicense these files; see source attribution.
InteriorGS, SpatialVerse Research Team / Manycore Tech Inc.: obtain official access and follow its terms. Downloaded scene data must not be redistributed under those terms.
HM3D, HM3D-OVON, and ABot Short-Horizon OVON: obtain source assets under their respective terms, including the Matterport academic-use agreement.

InteriorGS scenes and geometry annotations are obtained from their original sources. HM3D assets are hosted separately in the gated OVON subset or obtained from the official archives, under their original terms. The Internet videos are an independently prepared subset, not an official SpatialVID release or endorsement. Copyright in the original footage remains with its respective holders; the license grants only rights its licensors have authority to grant. For attribution corrections or removal requests, provide the affected clip IDs in this repository's Discussions or the linked code repository's Issues. The full license includes the disclaimer of warranties.