txwang98/Anywhere3D huggingface dataset:
Scene: 47115525 (source dataset: arkitscene_valid)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the wall opposite the window,  place a potted plant with a height of 1.2 meters and a diameter of 0.3 meters 0.1 meters to the right of the sofa. The plant should be placed closely against the wall, ensuring it does not obstruct the path.
Target 3D bounding box: center (1.953489715633945, -1.63429089699368, 0.823914020632397), width 0.3 m, length 0.3 m, height 1.2 m, rotation 0
Scene: 47115525 (source dataset: arkitscene_valid)
Grounding level: space_level (Size Understanding)
Referring expression: Replace the leather sofa, which has a mural directly above it, with a new sofa that is 0.2 meters shorter in height to accommodate a lower seating arrangement.
Target 3D bounding box: center (-0.67930314671354, -2.14672028721236, 0.53212454960299), width 2.16 m, length 1.16 m, height 0.61 m, rotation 0
Scene: 42897559 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing a row of cabinets, move the rightmost white cupboard adjacent to the left side of the purple bed, keeping it aligned with the bedside.
Target 3D bounding box: center (-0.8900000000000001, -0.5700000000000001, 0.79), width 0.78 m, length 0.58 m, height 0.79 m, rotation 9
Scene: 42897559 (source dataset: arkitscene_valid)
Grounding level: space_level (Distance Understanding)
Referring expression: Lying on the purple bed, place a new bed table of dimensions 0.4 meters x 0.4 meters x 0.6 meters at the bedside, ensuring it is positioned 0.2 meters to the left of the purple bed and placed flush against the wall.
Target 3D bounding box: center (-1.12, 0.95, 0.7000000000000001), width 0.4 m, length 0.4 m, height 0.6 m, rotation 5
Scene: 42897559 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Lay a rectangular carpet on the floor in the center of the room, with a length of 1.5 meters, a width of 0.9 meters, and a thickness of 0.02 meters.
Target 3D bounding box: center (-0.54, 0.49, 0.41), width 1.5 m, length 0.9 m, height 0.02 m, rotation 8
Scene: 42897559 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: On the white cabinet next to the bed, place a table lamp with a diameter of 0.15 meters and a height of 0.4 meters. Position the table lamp at the center of the edge on the side close to the bed, so it can be easily turned on from the bed at night.
Target 3D bounding box: center (-0.9000000000000001, -0.6099999999999999, 1.34), width 0.15 m, length 0.15 m, height 0.4 m, rotation 9
Scene: 42897559 (source dataset: arkitscene_valid)
Grounding level: space_level (Size Understanding)
Referring expression: A new mirror, 1.5 times the height of the original mirror, is placed in the center of the white cabinet closest to the bed, leaning against the wall.
Target 3D bounding box: center (-0.5800000000000001, -0.8599999999999999, 1.72), width 0.5 m, length 0.01 m, height 1.12 m, rotation 7
Scene: 45662970 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Move the white washing machine near the gate to the direct opposite position and place it against the wall.
Target 3D bounding box: center (0.1804779043660398, -0.7080452824960101, 0.670585249944008), width 0.6 m, length 0.62 m, height 0.84 m, rotation 90
Scene: 45662970 (source dataset: arkitscene_valid)
Grounding level: space_level (Distance Understanding)
Referring expression: Face the washing machine, move the cabinet below the sink 1.1 meters along the direction away from the windows.
Target 3D bounding box: center (-0.54, -0.45, 0.64), width 0.59 m, length 0.74 m, height 0.87 m, rotation 92
Scene: 45662970 (source dataset: arkitscene_valid)
Grounding level: space_level (Situation Understanding)
Referring expression: When organizing the laundry area, place a small rug measuring 1.2 meters × 0.8 meters × 0.02 meters directly in front of the washing machine near the door, ensuring that the rug is snugly against the edge of the washing machine for comfortable standing.
Target 3D bounding box: center (0.1599999999999997, -0.06, 0.24), width 0.8 m, length 1.2 m, height 0.02 m, rotation 92
Scene: 45662970 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the windows, install a 0.5 meter × 0.5 meter × 0.1 meter smooth-surfaced towel rack with a mirror on the cabinet's countertop. The towel rack should be placed in the upper right corner of the stainless steel sink, close to the windowsill, for convenient access when needed.
Target 3D bounding box: center (0.04999999999999982, 0.87, 1.39), width 0.1 m, length 0.5 m, height 0.5 m, rotation 90
Scene: scene0046_00 (source dataset: scannet)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Standing up from the middle of the bed and walk 1.1 meters forward. Turn left and walk another 2.8 meters. Place a floor lamp measuring 0.4 meters in base diameter and 1.2 meters in height centered at your current position.
Target 3D bounding box: center (-0.76, -2.15, 0.61), width 0.4 m, length 0.4 m, height 1.2 m, rotation 0
Scene: scene0046_00 (source dataset: scannet)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Imagine I am entering the room through the middle of the door and walking 1.4 meters forward. Then I turn right and walk another 1.8 meters. Place a small carpet, measuring 1 meter in length, 0.5 meters in width, and 0.05 meters in height, centered at my current position.
Target 3D bounding box: center (-0.0374413513347862, -0.989162667739741, -0.0064252525479591), width 0.5 m, length 1 m, height 0.05 m, rotation 0
Scene: scene0084_00 (source dataset: scannet)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Stand up from the toilet and face the opposite wall. Walk 1.5 meters forward, then turn right and walk 2 meters forward. Stop and place a table, measuring 0.5 meters in both width and length, and 0.7 meters in height, centered at your current position.
Target 3D bounding box: center (-0.185390703587624, 1.42360320844956, 0.351618972452824), width 0.5 m, length 0.5 m, height 0.7 m, rotation 0
Scene: scene0084_00 (source dataset: scannet)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Imagine I finish washing my hands at the sink directly beneath the mirror. Turn around and walk 1.5 meters forward. Then turn left and walk another 1.5 meters. Place a floor mat, measuring 2 meters in length, 0.8 meters in width, and 0.03 meters in height, centered at your current position.
Target 3D bounding box: center (-0.381677785487688, 1.17643036615112, 0.0165781475237683), width 2 m, length 0.8 m, height 0.03 m, rotation 0
Scene: scene0207_00 (source dataset: scannet)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Stand in the middle of the bathroom entrance, facing the kitchen counter. Walk 0.6 meters forward, then turn right. Walk 1.5 meters forward and stop. Place a mop bucket with a base diameter of 0.3 meters and a height of 0.5 meters, centered at your current position.
Target 3D bounding box: center (-0.66, -0.09, 0.25), width 0.3 m, length 0.3 m, height 0.5 m, rotation 0
Scene: scene0207_00 (source dataset: scannet)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Stand in the middle of the bathroom entrance, facing the kitchen counter. Walk 0.7 meters forward, then turn right. Walk 1.8 meters forward and stop. Move the nearest stool and centered it at the current position.
Target 3D bounding box: center (-0.665157647271149, 0.2362263898863, 0.288152329557179), width 0.51 m, length 0.47 m, height 0.59 m, rotation 0
Scene: scene0458_00 (source dataset: scannet)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Stand up from the toilet and face the wall behind the ladder. Walk 0.9 meters forward, then turn left. Walk another 0.5 meters and stop. Place a table, measuring 0.4 meters in width, 0.7 meters in length, and 0.5 meters in height, centered at your current position.
Target 3D bounding box: center (0.85, -0.06, 0.19), width 0.4 m, length 0.7 m, height 0.5 m, rotation 0
Scene: scene0458_00 (source dataset: scannet)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Imagine you are standing on the carpet in front of the sink cabinet. After washing your hands at the sink, turn around and walk 1.2 meters forward. Then turn right and walk 0.7 meters ahead. Place a small stool, with a base diameter of 0.3 meters and a height of 0.4 meters, centered at your current position.
Target 3D bounding box: center (-0.01, -0.97, 0.14), width 0.3 m, length 0.3 m, height 0.4 m, rotation 0
Scene: scene0645_00 (source dataset: scannet)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Stand directly in front of the nightstand, facing the wall behind the large sofa. Walk 1.8 meters forward, then turn right. Walk 1.1 meters and stop. Place a stool, measuring 1.2 meters in length, 0.5 meters in width, and 0.5 meters in height, centered at your current position.
Target 3D bounding box: center (-0.967727655639514, -0.715607738101022, 0.251716928470523), width 0.5 m, length 1.2 m, height 0.5 m, rotation 0
Scene: scene0645_00 (source dataset: scannet)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Move the ottoman nearest to the bed 2.5 meters towards the wall behind the tv. Then 0.8 meters towards the wall behind the two beds.
Target 3D bounding box: center (-0.584209229748091, 0.26473561917606, 0.187372328484488), width 0.76 m, length 0.55 m, height 0.41 m, rotation 0
Scene: scene_00107_00 (source dataset: multiscan)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Standing at the middle of the bathroom entrance and facing the mirror, walk 1 meter ahead and turn right. Then walk 0.9 meters and stop. Place a floor mat, measuring 0.65 meters in length, 0.3 meters in width, 0.03 meters in height, centered at the current position.
Target 3D bounding box: center (-0.04534825940484499, -0.657517385841486, 0.06720134011552004), width 0.65 m, length 0.3 m, height 0.03 m, rotation 177
Scene: scene_00107_00 (source dataset: multiscan)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Move the shelf 0.8 meters towards the bathtub, then 0.8 meters towards the wall behind the toilet.
Target 3D bounding box: center (0.7756492596954501, -0.102831283704518, 0.4851649273120181), width 0.46 m, length 0.19 m, height 0.83 m, rotation 0
Scene: ba6fdaae-a4c1-2dca-8240-6fbe1cb25eb4 (source dataset: 3RScan)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Getting up from the toilet and facing the opposite wall, walk 0.6 meters ahead and turn right. Then walk 1.6 meters ahead and stop. Position a resting chair, with base diameter 0.35 meters and height 0.8 meters, centered at the current position.
Target 3D bounding box: center (-0.08749825655140997, -0.9711715147629403, 0.7299998689863598), width 0.35 m, length 0.35 m, height 0.8 m, rotation 0
Scene: ba6fdaae-a4c1-2dca-8240-6fbe1cb25eb4 (source dataset: 3RScan)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Imagine you are looking at the mirror above the sink and standing in the middle of the white carpet in front of the sink. Turn around and walk 1.1 meters and turn to your left. Walk another 0.5 meters and stop. Position a storage cabinet measuring 0.5 meters in both width and length, 0.8 meters in height, centered at your current position.
Target 3D bounding box: center (0.674793904540407, -0.241058687183864, 0.71149212917754), width 0.5 m, length 0.5 m, height 0.8 m, rotation 0
Scene: ebc42041-82a4-2113-8583-cc8c1be818b3 (source dataset: 3RScan)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Move the plant in the corner 0.9 meters towards the wall with the door and 1.4 meters towards the bed.
Target 3D bounding box: center (0.6280326325904211, 1.05332764698639, 1.76999622828124), width 0.48 m, length 0.55 m, height 1.12 m, rotation 0
Scene: ebc42041-82a4-2113-8583-cc8c1be818b3 (source dataset: 3RScan)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Get off from the middle of the bed on the side with the office chair. Walk 2.3 meters forward, then turn right. Walk another 1.5 meters forward and stop. Position a cabinet, measuring 0.8 meters in both width and length, and 0.6 meters in height, centered at your current position.
Target 3D bounding box: center (-3.5360937428751, 1.63600104403791, 1.49210343668906), width 0.8 m, length 0.8 m, height 0.6 m, rotation 0
Scene: 44358499 (source dataset: arkitscene_valid)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Imagine you are entering the kitchen through the middle of the door. Walk 1.7 meters forward and turn left. Then enter the living room by walking 2.5 meters forward. Position an ottoman with a base diameter of 0.5 meters and a height of 0.5 meters, centered at your current position.
Target 3D bounding box: center (0.5725527113251698, -1.303078292041358, 0.459899679238632), width 0.5 m, length 0.5 m, height 0.5 m, rotation 0
Scene: 44358513 (source dataset: arkitscene_valid)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Standing up from the middle of the black sofa, walk 1.1 meters ahead then turn left. Walk another 1.1 meters ahead and stop. Place a floor lamp measuring 0.4 meters in base diameter, 1.6 meters in height, centered at the current position.
Target 3D bounding box: center (-0.04000000000000004, -0.88, 1.24), width 0.4 m, length 0.4 m, height 1.6 m, rotation 0
Scene: 44358513 (source dataset: arkitscene_valid)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Drag the chair over 1.1 meters in height 1.2 meters towards the wall behind the black sofa and 0.9 meters towards the wall behind the office desk near the door.
Target 3D bounding box: center (0.2574362151237, -0.264706281627378, 1.109847568228276), width 0.91 m, length 0.86 m, height 1.36 m, rotation 0
Scene: 47331971 (source dataset: arkitscene_valid)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Move the coffee table located near the two large sofas 0.6 meters towards the wall behind the fireplace and then 1.3 meters towards the wall with three windows.
Target 3D bounding box: center (0.53519716497756, 2.76764373142611, 0.964694751078838), width 0.76 m, length 1.34 m, height 0.5 m, rotation 0
Scene: 47331971 (source dataset: arkitscene_valid)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Standing up from the middle of the sofa that faces the windows, walk 3 meters ahead and turn right. Then walk 1.3 meters ahead and stop. Position an floor lamp measuring 0.6 meters in base diameter and 1.7 meters in height, centered at your current position.
Target 3D bounding box: center (2.17190160016432, 3.20137009336068, 1.549696587461798), width 0.6 m, length 0.6 m, height 1.7 m, rotation 0
Scene: 42899471 (source dataset: arkitscene_valid)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Standing in the center of the big red carpet with your back to the fireplace, walk 2 meters ahead and turn left. Walk another 0.8 meters forward and stop. Position a chair measuring 0.4 meters in both width and length, 0.85 meters in height centering at your current position.
Target 3D bounding box: center (0.6060969752222519, -0.3744411508379102, 0.8172052216685604), width 0.4 m, length 0.4 m, height 0.85 m, rotation 0
Scene: 42899471 (source dataset: arkitscene_valid)
Grounding level: space_level (Trajectory Understanding)
Referring expression: Walking down along the middle of the spiral staircase and reaching the living room floor, turn right and face the fireplace. Walk 3.5 meters forward and turn left. Walk another 1.9 meters forward and stop. Place a clothes rack measuring 0.4 meters in diameter, 1.5 meters in height centered at the current position.
Target 3D bounding box: center (-1.81454556884201, 0.8489765183800597, 1.15618536927304), width 0.4 m, length 0.4 m, height 1.5 m, rotation 0
Scene: scene0011_00 (source dataset: scannet)
Grounding level: object_level (Size)
Referring expression: Identify the object with a height just shy of 1 meter and found directly under the TV in the room.
Target 3D bounding box: center (-0.45, -2.95, 0.44), width 1.67 m, length 0.41 m, height 0.85 m, rotation 0
Scene: scene0011_00 (source dataset: scannet)
Grounding level: object_level (Size)
Referring expression: Facing the tv, choose the object that stretches over approximately 3.2 meters along its length, positioned in the far left of the armchair.
Target 3D bounding box: center (1.710000000000001, 1.01, 0.41), width 0.77 m, length 3.21 m, height 0.84 m, rotation 0
Scene: scene0011_00 (source dataset: scannet)
Grounding level: object_level (Size)
Referring expression: Locate the object with dimensions around 0.72 meters in width and standing over 2.4 meters in height, found in front of the trash can near the door.
Target 3D bounding box: center (1.65, 3.12, 1.23), width 0.72 m, length 1.06 m, height 2.43 m, rotation 0
Scene: scene0011_00 (source dataset: scannet)
Grounding level: object_level (Size)
Referring expression: Facing the window, which object has a length around 3.6 meters, while placed near the kitchen cabinets?
Target 3D bounding box: center (-0.42, 0.19, 0.43), width 1.19 m, length 3.64 m, height 0.86 m, rotation 0
Scene: scene0011_00 (source dataset: scannet)
Grounding level: object_level (Size)
Referring expression: Facing the kitchen counter, which chair, positioned to the right of large table, has the height exceeding 0.9 meters?
Target 3D bounding box: center (-0.18, -2, 0.52), width 0.68 m, length 0.74 m, height 0.99 m, rotation 0
Scene: scene0011_00 (source dataset: scannet)
Grounding level: object_level (Distance Understanding)
Referring expression: Which table is approximately 1.2 meters away from the kitchen cabinets?
Target 3D bounding box: center (-0.42, 0.19, 0.43), width 1.19 m, length 3.64 m, height 0.86 m, rotation 0
Scene: scene0011_00 (source dataset: scannet)
Grounding level: object_level (Distance Understanding)
Referring expression: Which trash can is roughly 1 meters away from the angled chair?
Target 3D bounding box: center (-1.47, -2.95, 0.44), width 0.4 m, length 0.41 m, height 0.87 m, rotation 0
Scene: scene0011_00 (source dataset: scannet)
Grounding level: object_level (Distance Understanding)
Referring expression: Standing by the kitchen counter with the dining table behind me, which refrigerator is approximately 2.6 meters away from the trash can in the right?
Target 3D bounding box: center (1.68, -2.59, 0.97), width 0.77 m, length 1.05 m, height 1.8 m, rotation 0
Scene: scene0015_00 (source dataset: scannet)
Grounding level: object_level (Size)
Referring expression: Locate the table which covers an area approximately equal to 2.1 square meters on its top surface.
Target 3D bounding box: center (-1.36, 2.54, 0.49), width 1.73 m, length 1.22 m, height 0.92 m, rotation 0
Scene: scene0015_00 (source dataset: scannet)
Grounding level: object_level (Size)
Referring expression: Find the chair covering an area of approximately 0.27 square meters and its backrest against the wall with the whiteboard.
Target 3D bounding box: center (-1.94, 0.57, 0.4199999999999999), width 0.58 m, length 0.46 m, height 0.78 m, rotation 0
Scene: scene0015_00 (source dataset: scannet)
Grounding level: object_level (Size)
Referring expression: Point out the whiteboard with a length over 3 meters, typically used for writing notes in an open area space.
Target 3D bounding box: center (0.69, 3.06, 1.52), width 3.33 m, length 0.24 m, height 1.07 m, rotation 0
Scene: scene0015_00 (source dataset: scannet)
Grounding level: object_level (Distance Understanding)
Referring expression: Find the table approximately 0.9 meters away from the slanted-positioned table.
Target 3D bounding box: center (1.08, -2.88, 0.37), width 2.14 m, length 0.58 m, height 0.77 m, rotation 0
Scene: scene0015_00 (source dataset: scannet)
Grounding level: object_level (Distance Understanding)
Referring expression: Select the chair whose backrest is against the wall and is approximately 0.7 meters away from the wall with a longer blackboard on it
Target 3D bounding box: center (2.15, 2.16, 0.63), width 0.61 m, length 0.53 m, height 0.79 m, rotation 0
Scene: scene0019_00 (source dataset: scannet)
Grounding level: object_level (Size)
Referring expression: Identify the object with a height of approximately 1.7 meters with transparent glass on its front.
Target 3D bounding box: center (-0.62, -1.68, 0.97), width 1.05 m, length 0.79 m, height 1.7 m, rotation 0
Scene: scene0019_00 (source dataset: scannet)
Grounding level: object_level (Size)
Referring expression: Which object has a height over 1.5 meters and is positioned right next to the vending machine?
Target 3D bounding box: center (-1.5, -1.57, 0.85), width 0.37 m, length 0.45 m, height 1.62 m, rotation 0
Scene: scene0019_00 (source dataset: scannet)
Grounding level: object_level (Size)
Referring expression: Locate the cylindrical object that stands about 0.65 meters tall, positioned in the vicinity of the door.
Target 3D bounding box: center (-2, 1.52, 0.31), width 0.51 m, length 0.57 m, height 0.64 m, rotation 0
Scene: scene0019_00 (source dataset: scannet)
Grounding level: object_level (Distance Understanding)
Referring expression: Facing the wall with the vending machine in my right, which chair is to the left of the couch and is about 0.7 meters away from it?
Target 3D bounding box: center (1.63, 0.4, 0.4), width 0.79 m, length 0.81 m, height 0.83 m, rotation 0
Scene: scene0019_00 (source dataset: scannet)
Grounding level: object_level (Distance Understanding)
Referring expression: Which chair positioned on the ground has the farthest distance from the vending machine?
Target 3D bounding box: center (1.750000000000001, 2.63, 0.34), width 0.8 m, length 0.64 m, height 0.63 m, rotation 0
Scene: scene0019_00 (source dataset: scannet)
Grounding level: object_level (Distance Understanding)
Referring expression: Which chair located on the floor is about 1.6 meters away from the black chair closest to the couch?
Target 3D bounding box: center (1.71, 1.96, 0.32), width 0.82 m, length 0.78 m, height 0.65 m, rotation 0
Scene: scene0025_00 (source dataset: scannet)
Grounding level: object_level (Size)
Referring expression: Which object resting on the windowsill has a significant height of around 0.9 meters?
Target 3D bounding box: center (-0.35, -2.59, 1.33), width 2.41 m, length 0.34 m, height 0.94 m, rotation 0
Scene: scene0025_00 (source dataset: scannet)
Grounding level: object_level (Size)
Referring expression: Facing the larger whiteboard, what object in the left corner occupies space more than 1 square meters?
Target 3D bounding box: center (1.31, 1.69, 0.31), width 0.77 m, length 1.41 m, height 0.64 m, rotation 0
Scene: scene0025_00 (source dataset: scannet)
Grounding level: object_level (Distance Understanding)
Referring expression: Which monitor that is about 1.05 meters away from a black leather couch with a pillow on it?
Target 3D bounding box: center (0.32, -0.24, 0.91), width 0.27 m, length 0.61 m, height 0.46 m, rotation 0
Scene: scene0025_00 (source dataset: scannet)
Grounding level: object_level (Distance Understanding)
Referring expression: Identify the file cabinet that is located approximately 0.2 meters from the closest couch.
Target 3D bounding box: center (-1.3, 0.12, 0.25), width 0.49 m, length 0.5 m, height 0.53 m, rotation 0
Scene: scene0025_00 (source dataset: scannet)
Grounding level: object_level (Distance Understanding)
Referring expression: Facing the window, which office chair is 2.4 meters away from the couch in the left?
Target 3D bounding box: center (-1.05, -1.04, 0.45), width 0.77 m, length 0.92 m, height 0.93 m, rotation 0