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HSSD: Habitat Synthetic Scenes Dataset

The Habitat Synthetic Scenes Dataset (HSSD) is a human-authored 3D scene dataset that more closely mirrors real scenes than prior datasets. Our dataset represents real interiors and contains a diverse set of 211 scenes and more than 18000 models of real-world objects.

This repository provides a Habitat consumption-ready compressed version of HSSD. See this repository for corresponding uncompressed assets.

Dataset Structure

β”œβ”€β”€ objects
β”‚   β”œβ”€β”€ */*.glb
β”‚   β”œβ”€β”€ */*.collider.glb
β”‚   β”œβ”€β”€ */*.filteredSupportSurface(.ply|.glb)
β”‚   β”œβ”€β”€ */*.object_config.json
β”œβ”€β”€ stages
β”‚   β”œβ”€β”€ *.glb
β”‚   β”œβ”€β”€ *.stage_config.json
β”œβ”€β”€ scenes
β”‚   β”œβ”€β”€ *.scene_instance.json
β”œβ”€β”€ scenes_uncluttered
β”‚   β”œβ”€β”€ *.scene_instance.json
β”œβ”€β”€ scene_filter_files
β”‚   β”œβ”€β”€ *.rec_filter.json
└── hssd-hab.scene_dataset_config.json
└── hssd-hab-uncluttered.scene_dataset_config.json
  • hssd-hab.scene_dataset_config.json: This SceneDataset config file aggregates the assets and metadata necessary to fully describe the set of stages, objects, and scenes constituting the dataset.
  • objects: 3D models representing distinct objects that are used to compose scenes. Contains configuration files, render assets, collider assets, and Receptacle mesh assets.
  • stages: A stage in Habitat is the set of static mesh components which make up the backdrop of a scene (e.g. floor, walls, stairs, etc.).
  • scenes: A scene is a single 3D world composed of a static stage and a variable number of objects.

Rearrange-ready assets:

Supporting Habitat 3.0 embodied rearrangement tasks with updated colliders, adjusted and de-cluttered scene contents, receptacle meshes, and receptacle filter files. See for more details.

  • hssd-hab-uncluttered.scene_dataset_config.json: This SceneDataset config file aggregates adds the adjusted and uncluttered scenes for rearrangement tasks.
  • scenes_uncluttered: Contains the adjusted scene instance configuration files.
  • scene_filter_files: A scene filter file organizes available Receptacle instances in a scene into active and inactive groups based on simualtion heuristics and manual edits. It is consumed by the RearrangeEpisodeGenerator to construct valid RearrangeEpisodeDatasets.

Getting Started

To load HSSD scenes into the Habitat simulator, you can start by installing habitat-sim using instructions specified here.

Once installed, you can run the interactive Habitat viewer to load a scene:

habitat-viewer --dataset /path/to/hssd-hab/hssd-hab.scene_dataset_config.json -- 102344280
# or ./build/viewer if compiling from source

You can find more information about using the interactive viewer here.

Habitat-Sim is typically used with Habitat-Lab, a modular high-level library for end-to-end experiments in embodied AI. To define embodied AI tasks (e.g. navigation, instruction following, question answering), train agents, and benchmark their performance using standard metrics, you can download habitat-lab using the instructions provided here.


  • v0.2.5: Rearrange-ready HSSD
    • Note: this is a checkpoint. Known issues exist and continued polish is ongoing.
    • Adds Receptacle meshes describing support surfaces for small objects (e.g. table or shelf surfaces).
    • Adds collider meshes (.collider.glb) for assets with Receptacle meshes to support simulation.
    • Adds new scenes 'scenes_uncluttered' and new SceneDataset 'hssd-hab-uncluttered' containing adjusted and de-cluttered versions of the scenes for use in embodied rearrangement tasks.
    • Adds 'scene_filter_files' which sort Receptacles in each scene into active and inactive groups for RearrangeEpisode generation.
  • v0.2.4:
    • Recompresses several object GLBs to preserve PBR material status.
    • Adds CSV with object metadata and semantic lexicon files for Habitat.
    • Adds train/val scene splits file.
  • v0.2.3: First release.
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