---
license: cc-by-nc-4.0
viewer: false
---

# Habitat v0.3.x Benchmark Dataset

Assets, configs, and episodes for reproduceable benchmarking on Habitat v0.3.x.

## Setup

Clone this repo and symblink as `data/hab3_bench_assets` in habitat-lab directory.
Download the [Habitat compatable YCB SceneDataset](https://huggingface.co/datasets/ai-habitat/ycb) and create a symbolic link in `data/objects/ycb` or use the habitat-sim datasets_download script ([README](https://github.com/facebookresearch/habitat-sim/blob/main/DATASETS.md#ycb-benchmarks---object-and-model-set)).

## Contents:

- Scene Dataset: `hab3-hssd/` - the necessary configs and assets to load a subset of HSSD dataset into habitat-lab and utilize it for Hab3 rearrangement tasks.

- Episode Datasets: `episode_datasets` - a set of serialized RearrangeDataset files generated for the benchmark SceneDataset. See "Generating New Episodes" below for details.

- `hab3_bench_ep_gen_config.yaml` - config file for generating new RearrangeDataset files.

- Example Humanoid assets - URDF, skin meshes, motion files for one humanoid.

## Generating New Episodes:

The provided config `hab3_bench_ep_gen_config.yaml` is available for generating new hab3 benchmarking episodes. It defines the scene, objects, and generator configs (e.g. number of clutter objects).

The generator command should be run on a Habitat 3.0 compatable branch (e.g. SIRo) with the included assets from `fpss/fphab` commit `cd1549303d759abacbb377a8dd52c5f7af0d0e5a` as follows:

```
python -u habitat-lab/habitat/datasets/rearrange/run_episode_generator.py --config data/hab3_bench_assets/hab3_bench_ep_gen_config.yaml --run --verbose --num-episodes 10 --seed 0 --out data/hab3_bench_assets/episode_datasets/large_large.json.gz
```

Naming of the episode file `<scene_complexity>_<object_complexity>.json.gz` depends on the following parameters:


### Scene Complexity:
Currently we are testing on 3 differently sized scenes:
- `small`: 103997919_171031233 (area 35.92) - 1 bed, 1 bath
- `medium`: 108736635_177263256 (area 55.49) - 3 bed, 2 bath
- `large`: 102816009 (area 172.43) 4 bed, 4 bath + den & office

One of these scene sets must be selected in the config before generation.

### Object Complexity:
Currently we are testing 3 clutter object size complexities:
- `small`: 2 objects
- `medium`: 5 objects
- `large`: 10 objects

One of these sampler params must be selected in the config before generation.

## License Notes:

HSSD assets and episodes are provided under cc-by-nc license as a subset of the dataset described here: https://3dlg-hcvc.github.io/hssd/

Example humanoid assets are provided under cc-by-nc license as a subset of https://huggingface.co/datasets/ai-habitat/habitat_humanoids