txwang98/Anywhere3D huggingface dataset:
Scene: scene0300_00 (source dataset: scannet)
Grounding level: object_level (Distance Understanding)
Referring expression: Standing directly in front of the window in the center of the wall with your back facing the window, walk 1.65 meters forward and turn right. Walk 0.9 meters forward and stop. What object on the floor is directly in front of you?
Target 3D bounding box: center (-0.23, 0.97, 0.42), width 0.5 m, length 0.75 m, height 0.88 m, rotation 0
Scene: scene0316_00 (source dataset: scannet)
Grounding level: object_level (Distance Understanding)
Referring expression: Standing up from the middle of the armchair and walk 1.8 meters forward. Then turn left and walk 1.3 meters forward. What object is directly in front of you apart from the wall？
Target 3D bounding box: center (1.16840968521423, -0.5904103017286949, 0.795783010429659), width 0.52 m, length 0.52 m, height 1.06 m, rotation 0
Scene: scene0011_00 (source dataset: scannet)
Grounding level: part_level (Movement)
Referring expression: Facing the large kitchen counter, pull out the bottom drawer of the cabinet on the far left by 0.2 meters.
Target 3D bounding box: center (1.43, 2.410000000000002, 0.25), width 0.65 m, length 0.44 m, height 0.26 m, rotation 0
Scene: scene0019_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: If you are using a vending machine to purchase food, select the space occupied by all the products in the vending machine.
Target 3D bounding box: center (-0.57, -1.81, 1.19), width 0.72 m, length 0.67 m, height 1.09 m, rotation 0
Scene: scene0030_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: If I am about to go out, where are all the books located on the second shelf of the bookshelf to my right?
Target 3D bounding box: center (-2.27, 2.49, 0.5599999999999999), width 0.27 m, length 0.84 m, height 0.27 m, rotation 0
Scene: scene0046_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: When you are selecting clothes from the wardrobe by the window, carefully check the right half of the wardrobe for any clothes you like.
Target 3D bounding box: center (1.02, 2.250000000000001, 0.96), width 0.67 m, length 0.46 m, height 1.93 m, rotation 0
Scene: scene0050_00 (source dataset: scannet)
Grounding level: part_level (Movement)
Referring expression: Assume you are working at your desk. Please pull the top drawer on the left side out as far as it will go until it touches the armchair.
Target 3D bounding box: center (0.4399999999999999, 0.6099999999999998, 0.6000000000000001), width 0.35 m, length 0.66 m, height 0.18 m, rotation 0
Scene: scene0063_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Which compartment of the refrigerator can store seafood and other items that need to be kept below 0 degrees?
Target 3D bounding box: center (2.04, -0.13, 0.5799999999999998), width 0.64 m, length 0.74 m, height 1.07 m, rotation 0
Scene: scene0100_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Select the third row of drawers in the third column from the left to the right of the large bathroom cabinet.
Target 3D bounding box: center (-0.29, 0.7200000000000001, 0.18), width 0.42 m, length 0.55 m, height 0.2 m, rotation 0
Scene: scene0131_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Suppose I am sitting on a chair in front of the shelf, choose the compartment in the top right corner of the shelf.
Target 3D bounding box: center (1.03, 2.100000000000001, 1.37), width 0.32 m, length 0.9 m, height 0.42 m, rotation 0
Scene: scene0139_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Facing the washing machine, I want to place items in the compartment on the right side of the shelf above it. Select that compartment.
Target 3D bounding box: center (-1.129741850933679, -0.3366248471984268, 1.377842702808542), width 0.13 m, length 0.9 m, height 0.33 m, rotation 0
Scene: scene0144_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Please find out the mattress of the bed, as I want to replace it with another mattress of the same size.
Target 3D bounding box: center (0.89, 0.88, 0.5099999999999999), width 1.97 m, length 1.07 m, height 0.44 m, rotation 0
Scene: scene0144_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Assume you are working at a table. Find the second shelf from the top on the right-hand side wall.
Target 3D bounding box: center (1.4, -1.59, 1.490000000000001), width 0.53 m, length 0.28 m, height 0.3 m, rotation 0
Scene: scene0146_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Find the opening area where you can throw toilet paper into the trash can from the outside.
Target 3D bounding box: center (-0.7200000000000001, 1.18, 0.68), width 0.29 m, length 0.13 m, height 0.2 m, rotation 0
Scene: scene0149_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Near the table, find the kitchen cabinet compartment corresponding to the a white door.
Target 3D bounding box: center (0.77, 0.22, 0.4199999999999999), width 0.68 m, length 0.56 m, height 0.79 m, rotation 0
Scene: scene0149_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: The refrigerator has two storage compartments. Which storage compartment has a relatively higher temperature?
Target 3D bounding box: center (-1.44, -1.06, 1.34), width 0.75 m, length 0.68 m, height 0.43 m, rotation 10
Scene: scene0164_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Face the picture on the wall, locate the storage space of the cabinet with its door open on the upper left side.
Target 3D bounding box: center (-1.26, -1.35, 1.67), width 0.49 m, length 0.36 m, height 0.76 m, rotation 0
Scene: scene0164_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Face the picture on the wall, locate the storage compartment at the bottommost level of the cabinet with an open door on the upper right side.
Target 3D bounding box: center (-0.7, 1.18, 1.48), width 0.53 m, length 0.28 m, height 0.29 m, rotation 0
Scene: scene0193_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Find the storage compartment of the topmost shelf above the desk.
Target 3D bounding box: center (1.550000000000001, -0.16, 1.35), width 0.95 m, length 0.33 m, height 0.35 m, rotation 57
Scene: scene0203_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Select the slot of the shelf which is in the third column from the left and the second row from the top.
Target 3D bounding box: center (1.85, -0.1000000000000001, 1.11), width 0.39 m, length 0.76 m, height 0.49 m, rotation 0
Scene: scene0207_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Find the third shelf from the top in the open cabinet on the wall opposite the bathroom.
Target 3D bounding box: center (-2.21, -1.14, 1.6), width 0.27 m, length 0.81 m, height 0.32 m, rotation 0
Scene: scene0207_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Find the top shelf of the rack located between the two windows.
Target 3D bounding box: center (-0.02, 2.929999999999999, 2.05), width 0.71 m, length 0.26 m, height 0.27 m, rotation 0
Scene: scene0221_00 (source dataset: scannet)
Grounding level: part_level (Movement)
Referring expression: Pull out the second drawer on the left side of the desk by 0.3 meters.
Target 3D bounding box: center (0.9699999999999998, 1.35, 0.2700000000000001), width 0.61 m, length 0.78 m, height 0.23 m, rotation 0
Scene: scene0222_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Find the mattress of the bed opposite the door.
Target 3D bounding box: center (-1.16, -2.099999999999999, 0.6400000000000001), width 1.04 m, length 1.84 m, height 0.22 m, rotation 0
Scene: scene0222_00 (source dataset: scannet)
Grounding level: part_level (Movement)
Referring expression: Pull the first and second drawers on the left side of the desk next to the window out by 0.25 meters.
Target 3D bounding box: center (-0.96, -0.27, 0.44), width 0.62 m, length 0.72 m, height 0.39 m, rotation 0
Scene: scene0246_00 (source dataset: scannet)
Grounding level: part_level (Movement)
Referring expression: Pull the second drawer of the bathroom cabinet under the sink out by 0.3 meters.
Target 3D bounding box: center (-0.6599999999999999, -0.15, 0.3), width 0.46 m, length 0.59 m, height 0.3 m, rotation 0
Scene: scene0278_00 (source dataset: scannet)
Grounding level: part_level (Movement)
Referring expression: Pull the top three drawers of the file cabinet 0.3 meters outward.
Target 3D bounding box: center (0.5399999999999998, 1.53, 0.92), width 0.51 m, length 1.02 m, height 0.86 m, rotation 0
Scene: scene0300_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Divide the table under the picture into several areas for people to study, based on the number of chairs in front of it. Select the area on the far left.
Target 3D bounding box: center (-0.3300000000000001, 1.16, 0.39), width 1.17 m, length 0.85 m, height 0.76 m, rotation 0
Scene: scene0307_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Select the lower storage compartment in the cabinet next to the refrigerator.
Target 3D bounding box: center (-0.72, 1.42, 0.35), width 0.58 m, length 0.7 m, height 0.65 m, rotation 0
Scene: scene0329_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Select the half of the sofa against the wall that does not have a bag on it.
Target 3D bounding box: center (0.8200000000000001, 2.559999999999999, 0.38), width 1.01 m, length 0.96 m, height 0.88 m, rotation 0
Scene: scene0329_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: From the sofa without a bag, select the half nearest to the coffee table.
Target 3D bounding box: center (0.53, 0.34, 0.41), width 1.02 m, length 0.93 m, height 0.86 m, rotation 0
Scene: scene0338_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Please locate the green part on the recycling bin.
Target 3D bounding box: center (-0.7899999999999999, -1.77, 0.6099999999999999), width 0.48 m, length 0.27 m, height 0.1 m, rotation 0
Scene: scene0343_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Locate the storage space on the bottom layer of the white cart.
Target 3D bounding box: center (-2.310000000000001, 0.5599999999999999, 0.4700000000000001), width 0.37 m, length 0.38 m, height 0.21 m, rotation 38
Scene: scene0353_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Facing the window, Select the space above the desk and below the bed on the left side
Target 3D bounding box: center (-1.05, 1.3, 0.9899999999999998), width 1.1 m, length 2.01 m, height 0.63 m, rotation 0
Scene: scene0353_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Facing the sofa, Location the section of the sofa on the right side of the pillows, including the backrest and the armrest.
Target 3D bounding box: center (-1.11, -0.369999999999999, 0.35), width 0.95 m, length 0.57 m, height 0.93 m, rotation 0
Scene: scene0354_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Divide the table and the area beneath it into two equally sized spaces, and choose the space corresponding to the four chairs near the television.
Target 3D bounding box: center (-0.2, 0.06, 0.35), width 0.82 m, length 1.63 m, height 0.76 m, rotation 0
Scene: scene0354_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Choose the section of the table located in the corner closest to the door, which can be used by the two people seated there.
Target 3D bounding box: center (0.56, 0.46, 0.35), width 0.82 m, length 0.82 m, height 0.76 m, rotation 0
Scene: scene0356_00 (source dataset: scannet)
Grounding level: part_level (Movement)
Referring expression: Pull the second and third drawers of the dressing table at the door outward by 0.25 meters.
Target 3D bounding box: center (-0.41, -1.42, 0.25), width 0.67 m, length 0.63 m, height 0.5 m, rotation 0
Scene: scene0378_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: When you are about to leave the room by the door, select the top two shelves of the bookshelf on the left.
Target 3D bounding box: center (-0.8099999999999999, 1.83, 1.67), width 1.04 m, length 0.32 m, height 0.58 m, rotation 0
Scene: scene0426_00 (source dataset: scannet)
Grounding level: part_level (Movement)
Referring expression: Pull the first row of drawers on the dresser below the TV outward by 0.2 meters.
Target 3D bounding box: center (-0.65, -1.48, 0.59), width 1.09 m, length 0.48 m, height 0.19 m, rotation 0
Scene: scene0432_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Facing the wall, choose the backrest part of the right-side sofa chair.
Target 3D bounding box: center (0.9900000000000002, -0.6, 0.6200000000000001), width 0.29 m, length 0.63 m, height 0.36 m, rotation 0
Scene: scene0435_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Facing the nightstand, choose the bed frame section under the mattress of the left-side bed.
Target 3D bounding box: center (0.92, 1.46, 0.15), width 2.03 m, length 1.51 m, height 0.38 m, rotation 0
Scene: scene0435_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Choose the mattress of the bed that is closest to the bathroom.
Target 3D bounding box: center (0.87, -1.02, 0.4799999999999998), width 1.92 m, length 1.6 m, height 0.31 m, rotation 0
Scene: scene0458_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Select the storage compartment that has the largest cabinet door in the bathroom vanity.
Target 3D bounding box: center (0.8700000000000001, 0.6399999999999999, 0.2699999999999999), width 0.35 m, length 0.51 m, height 0.52 m, rotation 0
Scene: scene0462_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Select the slot in the mailbox that contains the orange box.
Target 3D bounding box: center (-0.7900000000000004, 0.42, 0.42), width 0.29 m, length 0.88 m, height 0.28 m, rotation 0
Scene: scene0474_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Select the sections of the couch that is next to the window.
Target 3D bounding box: center (-0.2, 2.540000000000006, 0.39), width 2.33 m, length 0.92 m, height 0.73 m, rotation 0
Scene: scene0474_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Divide the desk based on the number of chairs in front of it, then select the section near the door.
Target 3D bounding box: center (1.04, -1.57, 0.34), width 0.86 m, length 1.82 m, height 0.79 m, rotation 0
Scene: scene0488_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Facing the wall behind the refrigerator, choose the upper compartment of the refrigerator on the right.
Target 3D bounding box: center (-0.61, -0.81, 1.44), width 0.69 m, length 0.82 m, height 0.58 m, rotation 0
Scene: scene0488_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Facing the wall behind the refrigerator, choose the lower compartment of the refrigerator on the left.
Target 3D bounding box: center (0.54, -0.8400000000000003, 0.5799999999999998), width 0.78 m, length 0.78 m, height 1.12 m, rotation 0
Scene: scene0494_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Choose the area of the table that corresponds to two chairs that are far from the whiteboard?
Target 3D bounding box: center (0.17, 0.3200000000000001, 0.36), width 0.83 m, length 0.62 m, height 0.73 m, rotation 0
Scene: scene0518_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Facing the shelves on the wall, select the small square shelf in the top right corner.
Target 3D bounding box: center (1.22, -0.95, 1.67), width 0.3 m, length 0.35 m, height 0.35 m, rotation 0
Scene: scene0518_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Choose the section of the L-shaped sofa that is next to the wall.
Target 3D bounding box: center (-1.4, 0.6899999999999997, 0.43), width 0.84 m, length 2.11 m, height 0.88 m, rotation 0
Scene: scene0549_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Choose the middle seating section from the sofa that is closest to the largest table.
Target 3D bounding box: center (-2.55, 0.46, 0.52), width 0.73 m, length 0.59 m, height 0.87 m, rotation 0
Scene: scene0552_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Identify the upper compartment of the refrigerator.
Target 3D bounding box: center (1.860000000000001, 0.31, 1.37), width 0.8 m, length 0.87 m, height 0.57 m, rotation 0
Scene: scene0559_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Select the sections with backrest from the sofa closest to the large rectangular table.
Target 3D bounding box: center (0.61, -2.150000000000001, 0.47), width 0.71 m, length 1.12 m, height 0.88 m, rotation 176
Scene: scene0565_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: In the corner of the room, there are two adjacent carts. Identify the storage space corresponding to the bottom compartment of the black one.
Target 3D bounding box: center (-1.9, 2.25, 0.3200000000000001), width 0.44 m, length 0.57 m, height 0.37 m, rotation 0
Scene: scene0578_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Choose the half of the larger table that is closer to the whiteboard directly facing the door.
Target 3D bounding box: center (-0.19, -0.76, 0.35), width 0.96 m, length 0.88 m, height 0.76 m, rotation 0
Scene: scene0578_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Choose the half of the larger table that is farther from the window.
Target 3D bounding box: center (0.04999999999999999, -0.36, 0.35), width 0.46 m, length 1.76 m, height 0.76 m, rotation 0
Scene: scene0591_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Choose the top two layers of the bookshelf which is near the desk and against the wall.
Target 3D bounding box: center (-1.37, 0.6900000000000001, 0.8500000000000001), width 0.41 m, length 0.82 m, height 0.86 m, rotation 0
Scene: scene0591_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Select the section of the sofa with the bright yellow pillow.
Target 3D bounding box: center (1.34, 0.3999999999999999, 0.53), width 0.84 m, length 0.75 m, height 1.06 m, rotation 0
Scene: scene0593_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Facing the window, choose the drawer in the bottom left corner.
Target 3D bounding box: center (-0.39, 2.519999999999999, 0.2599999999999999), width 0.86 m, length 0.45 m, height 0.35 m, rotation 0
Scene: scene0595_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Standing in front of the washing machines, with the blue wall on my left side, select the 2nd and 3rd washing machines from the left.
Target 3D bounding box: center (1.18, 0.66, 0.58), width 0.86 m, length 1.42 m, height 1.1 m, rotation 0
Scene: scene0598_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Choose the left half of the desk beside the blinds as a workstation for one person to study.
Target 3D bounding box: center (0.7399999999999999, -0.89, 0.2999999999999999), width 1.43 m, length 0.88 m, height 0.76 m, rotation 0
Scene: scene0599_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Select the part of the table corresponding to the six chairs closest to the TV.
Target 3D bounding box: center (0.06000000000000001, 1.19, 0.3599999999999999), width 0.9 m, length 2.7 m, height 0.76 m, rotation 0
Scene: scene0606_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Facing the window, choose the third cabinet from the left in the row of cabinets below.
Target 3D bounding box: center (-1.35, 0.6099999999999999, 0.41), width 0.52 m, length 0.55 m, height 0.74 m, rotation 0
Scene: scene0606_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Facing the window, select the second to fourth cabinets in the row below from left to right.
Target 3D bounding box: center (-1.32, 0.6000000000000001, 0.43), width 0.49 m, length 1.7 m, height 0.7 m, rotation 0
Scene: scene0607_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Facing the wall with the kitchen cabinets on my right, select the part of the table corresponding to the four chairs closest to the wall.
Target 3D bounding box: center (-0.7899999999999999, 0.1900000000000001, 0.5), width 1.05 m, length 1.68 m, height 1.01 m, rotation 0
Scene: scene0607_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Facing the wall, with the kitchen cabinets on my right, choose the part of the table corresponding to the two chairs farthest from the wall.
Target 3D bounding box: center (-0.79, -1.16, 0.49), width 1.06 m, length 0.99 m, height 1 m, rotation 0
Scene: scene0609_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Facing the wall behind the bench, choose the right half of the four-person table on the left.
Target 3D bounding box: center (-0.43, -0.96, 0.38), width 0.88 m, length 0.78 m, height 0.75 m, rotation 4
Scene: scene0609_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Facing the wall behind the bench, choose the left half of a two-person table.
Target 3D bounding box: center (1.61, -0.8699999999999997, 0.36), width 0.78 m, length 0.42 m, height 0.75 m, rotation 9
Scene: scene0616_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Choose the window closest to the fireplace out of the two available.
Target 3D bounding box: center (0.6800000000000002, 2.279999999999999, 1.47), width 0.58 m, length 0.22 m, height 1.38 m, rotation 0
Scene: scene0618_00 (source dataset: scannet)
Grounding level: part_level (Function)
Referring expression: Facing the radiator, place 15 red balls on the left side of the pool table in the same arrangement as in snooker.
Target 3D bounding box: center (0, -0.66, 0.79), width 0.26 m, length 0.26 m, height 0.05 m, rotation 0
Scene: scene0621_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Facing the blackboard, select the top right quarter of the table located in the center of the classroom.
Target 3D bounding box: center (-0.02999999999999994, 0.11, 0.29), width 0.62 m, length 0.6 m, height 0.74 m, rotation 0
Scene: scene0633_00 (source dataset: scannet)
Grounding level: part_level (Relationship)
Referring expression: Facing the picture on the wall, choose the rightmost storage unit of the shelf which is directly next to the armchair.
Target 3D bounding box: center (-1.2, 0.11, 0.26), width 0.44 m, length 0.32 m, height 0.55 m, rotation 0