language:
- en
pretty_name: HSSD
tags:
- 3D scenes
- Embodied AI
license: cc-by-nc-4.0
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
βββ objects
β βββ */*.glb
β βββ */*.object_config.json
βββ stages
β βββ *.glb
β βββ *.stage_config.json
βββ scenes
β βββ *.scene_instance.json
βββ hssd.scene_dataset_config.json
hssd.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 datasetobjects
: 3D models representing distinct objects that are used to compose scenesstages
: 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
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/hssd.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.