metadata

language:
  - en
pretty_name: HSSD
tags:
  - 3D scenes
  - Embodied AI
license: cc-by-nc-4.0
extra_gated_heading: Acknowledge license to accept the repository
extra_gated_prompt: >-
  You agree to use this dataset under the [CC BY-NC 4.0
  license](https://creativecommons.org/licenses/by-nc/4.0/) terms

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

├── objects
│   ├── */*.glb
│   ├── */*.object_config.json
├── stages
│   ├── *.glb
│   ├── *.stage_config.json
├── scenes
│   ├── *.scene_instance.json
└── hssd-hab.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
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

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.

Changelog

v0.2.3: First release.
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.