Urbex: Agentic Spatial Grounding for City-Scale 3D Scenes
Paper • 2610.18356 • Published • 111
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The dataset generation failed
Error code: DatasetGenerationError
Exception: TypeError
Message: Couldn't cast array of type list<item: double> to null
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1827, in _prepare_split_single
for key, table in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
for item in generator(*args, **kwargs):
~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2378, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2312, in cast_table_to_schema
cast_array_to_feature(
~~~~~~~~~~~~~~~~~~~~~^
table[name] if name in table_column_names else pa.array([None] * len(table), type=schema.field(name).type),
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
feature,
^^^^^^^^
)
^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1861, in wrapper
return pa.chunked_array([func(chunk, *args, **kwargs) for chunk in array.chunks])
~~~~^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2152, in cast_array_to_feature
return array_cast(
array,
...<2 lines>...
allow_decimal_to_str=allow_decimal_to_str,
)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 1863, in wrapper
return func(array, *args, **kwargs)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2016, in array_cast
raise TypeError(f"Couldn't cast array of type {_short_str(array.type)} to {_short_str(pa_type)}")
TypeError: Couldn't cast array of type list<item: double> to null
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1369, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1694, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1879, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
dataset string | scene_id string | object_id string | object_name string | ann_id int64 | query string | gt_bbox list | bev_png string | anchor_xy null | anchor_text string |
|---|---|---|---|---|---|---|---|---|---|
cityrefer | birmingham_block_3 | 96 | Building | 6 | A section of adjacent brown houses with solar panels on their roofs, located near the edge of the map off Graham Warren Way | [
436.171875,
313.296875,
17.954998016357422,
8.78125,
7.15625,
9.209999084472656,
2,
96
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | cambridge_block_20 | 68 | Building | 3 | A long rectangular, multicolored Brown, beige and white multi-housing unit complex with a brown roof off Prospect row | [
1515.1875,
912.6640625,
45.29999923706055,
115,
75.390625,
16.81999969482422,
2,
68
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_20 | 98 | Building | 7 | A long, rectangular brown multi-unit housing complex with a gray roof and 11 chimneys, located off New Square, is situated across from a large grass field with a diagonal row of trees. | [
1402.5625,
1127.7421875,
41.93000030517578,
30.125,
65.359375,
11.580001831054688,
2,
98
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_3 | 172 | Building | 2 | The building on The Broadway with a orange car and a tree in front of it and a black car parked diagonally in the driveway. | [
584.84375,
266.390625,
17.170001983642578,
10.3125,
10.59375,
8.620002746582031,
2,
172
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | birmingham_block_9 | 121 | Car | 3 | The white car that is 4th from the right in the 3rd row of cars in the parking lot next to the Perry Barr Bus Depot, when viewed aerially with the Perry Barr Bus Depot to the left. | [
953.28125,
818.546875,
10,
3.5,
5.46875,
1.3600006103515625,
9,
121
] | bev_cityrefer/birmingham_block_9.png | null | null |
cityrefer | birmingham_block_4 | 206 | Car | 4 | This is a red car parked in the parking area of a gray building located near where Wellington Road and Birchfield Road meet. On its right is a white car and on its left is a black car. | [
473.0625,
536.109375,
13.010002136230469,
4.4375,
4.28125,
1.3000030517578125,
9,
206
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | cambridge_block_20 | 221 | Car | 1 | A boxy sort of gray car with a white back end, at the end of the road on Park Terrace, in front of another longer gray car and behind a red car. | [
1244.1875,
811.1328125,
38.80500030517578,
3.5,
4.609375,
1.6699981689453125,
9,
221
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_20 | 247 | Car | 0 | This is a red car, on the last floor of a multi-storey car park. this multi-storey car park is between the Cambridge & Peterborough Probation Trust building and the Police Station buildings. this car is in the parking row where there are 3 red cars, it is the first car at the beginning of the row, it is on the side of ... | [
1511.78125,
842.71875,
46.45500183105469,
3.9375,
3.28125,
1.25,
9,
247
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_3 | 238 | Car | 0 | A gray car with five of the cars behind it, the closest car to it being black, near the edge of the map on the corner of Bayswater Road and Canterbury Road | [
655.90625,
79.53125,
15.050003051757812,
3.125,
4.875,
1.9199981689453125,
9,
238
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | birmingham_block_9 | 16 | Building | 1 | The building with grey roof and red wall along the road named Oscott Gardens, the building is at the right side of the Perry Barr Bus Depot. | [
1117.3125,
848.984375,
13.870002746582031,
50.5625,
32.71875,
14.279998779296875,
2,
16
] | bev_cityrefer/birmingham_block_9.png | null | null |
cityrefer | birmingham_block_3 | 194 | Car | 1 | The black car on Willmore Road that is in front of the only red car on the side of Willmore Road that has fewer cars. | [
416.296875,
351.359375,
13.790000915527344,
5.09375,
7.65625,
1.4799957275390625,
9,
194
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | cambridge_block_20 | 264 | Car | 0 | A black car parked at the right side of the road named Adam and Eve Street in front of the building named Cambridge County Court. A silver car parked behind it. | [
1569.875,
877.8515625,
39.314998626708984,
16.125,
8.203125,
1.3700027465820312,
9,
264
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_20 | 407 | Car | 5 | Two cars red-lined, a white car in a partial section of a gray car, near the edge of the map next to the Unitarian hall building on Victoria Street | [
1213.1875,
998.0390625,
38.45500183105469,
7.375,
6.234375,
1.3100013732910156,
9,
407
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_3 | 123 | Building | 5 | On the south side of Thornbury Road , this gray roofed building is tenth from the left and across from a tree. | [
601.15625,
189.515625,
15.025001525878906,
8.1875,
18.15625,
14.550003051757812,
2,
123
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | birmingham_block_4 | 754 | Parking | 1 | This is a large parking area off to the right of the entrance of One Stop. | [
508.078125,
731.71875,
8.139999389648438,
34.96875,
67.5625,
2.0800018310546875,
5,
754
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | cambridge_block_10 | 55 | Building | 2 | The gray house on Chesterton Road that is 1 house to the left of the JSG Wine Merchant. | [
635.53125,
1803.5234375,
40.28499984741211,
9.4375,
9.671875,
10.889999389648438,
2,
55
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | cambridge_block_20 | 11 | Building | 3 | The long gray building on Orchard Street with a square parking lot across from it. | [
1391.5,
1022.8828125,
42.41999816894531,
42.375,
27.265625,
8.020000457763672,
2,
11
] | bev_cityrefer/cambridge_block_20.png | null | Orchard Court |
cityrefer | cambridge_block_10 | 44 | Building | 5 | The brown house on Chesterton Road that is 4 houses to the right of the brown house facing Hertford Street. | [
569.8125,
1727.5625,
40.939998626708984,
14.5,
13.3125,
12.980003356933594,
2,
44
] | bev_cityrefer/cambridge_block_10.png | null | Wentworth House |
cityrefer | cambridge_block_20 | 392 | Car | 0 | A dark blue car in between two black vehicles near the corner of City Road and Grafton Street, across from a dark brown house with a red door on it | [
1525.09375,
1066.828125,
39.64500045776367,
3.1875,
5.125,
1.7099990844726562,
9,
392
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_4 | 24 | Car | 0 | The black car that is next to the white car and a black car is behind, at the wall, enter the parking at the One stop building on the Walsall Road side. | [
496.625,
739.125,
8.15999984741211,
7.75,
13.3125,
1.9800033569335938,
9,
24
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | cambridge_block_20 | 270 | Car | 1 | The dark silver car found on the left end of the long light brown roof top building, it is on Adam and Eve Street, and the car is to the right of the parking lot above Garden Court building. | [
1578.15625,
884,
39.244998931884766,
4.3125,
4.8125,
1.2099990844726562,
9,
270
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_20 | 146 | Building | 0 | The building just right of the Wellington House building, it has a multiple of square and rectangle mini roofs on top of it. | [
1589.15625,
845.921875,
48.904998779296875,
21.6875,
29.46875,
20.830001831054688,
2,
146
] | bev_cityrefer/cambridge_block_20.png | null | Cambridge County Court |
cityrefer | cambridge_block_20 | 282 | Car | 2 | A lone black car on the the right pavement along Eden street road. There is a black car on the left opposite lane. | [
1488.96875,
1132.890625,
38.959999084472656,
2.4375,
3.90625,
1.3600006103515625,
9,
282
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_3 | 386 | Car | 2 | The white car that is next to the blue grey car that is parked in front of the white building that is between orange buildings on the Burton Wood Drive Road | [
427.921875,
188.84375,
15.825000762939453,
2.53125,
4.4375,
1.4500045776367188,
9,
386
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | birmingham_block_4 | 25 | Car | 3 | The black car that is parked at the One Stop building with a black car behind it, a white car on the side of it and yellow paint on the other side of it. | [
496.125,
749.796875,
8.115001678466797,
5.625,
2.96875,
1.6899948120117188,
9,
25
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | cambridge_block_10 | 68 | Building | 6 | The narrow brown building on Chesterton Lane, located to the right of the Hillside building. | [
505.875,
1750.0390625,
44.05999755859375,
25.625,
21.296875,
9.979999542236328,
2,
68
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | birmingham_block_9 | 59 | Car | 5 | On the southern side of Aldridge Road directly left near Holford Drive, this red car is to the right of a white car. | [
875.6875,
1146.40625,
10.84000015258789,
4.5625,
3.1875,
1.8400039672851562,
9,
59
] | bev_cityrefer/birmingham_block_9.png | null | null |
cityrefer | cambridge_block_20 | 269 | Car | 3 | In the parking lot between Parkside Police Station and Cambridge & Peterborough, this dark blue car is parked on the second row from the right, nearby two red cars. | [
1508.90625,
847.4296875,
46.45499801635742,
3.9375,
3.453125,
1.2699966430664062,
9,
269
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_20 | 28 | Building | 0 | A white building with a red door that sits across Victoria Street from the Unitarian Hall. It is tall than building and the shed it sits between. | [
1212.125,
1005.0859375,
43.67500305175781,
7.125,
7.015625,
11.310001373291016,
2,
28
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_3 | 114 | Building | 3 | The building that is on The Thornbury Road and across to is the silver car and the blue ground. | [
646.09375,
178.328125,
17.34000015258789,
8.9375,
17.65625,
9.379997253417969,
2,
114
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | birmingham_block_3 | 372 | Car | 2 | One black car in between a red car and a dark blue car, in front of a multicolored white and brown home with a brown roof that has solar panels on his back end, off the Broadway Road | [
645.21875,
233.375,
12.78499984741211,
4.8125,
3,
1.6299972534179688,
9,
372
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | cambridge_block_20 | 345 | Car | 0 | This is a blue car with a black roof on Eden Street. It is on the long straight section of Eden Street, only the third car from the bend with Building Company on it. | [
1444.15625,
1027.5859375,
39.47999954223633,
3.4375,
4.203125,
1.4599990844726562,
9,
345
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_3 | 339 | Car | 4 | This is a white car found near the house with a brown roof on the Broadway. This house is a second closest house from Birchfield Road. The car is on a pathway to a small parking space with a bunch of trucks. | [
526.328125,
255.921875,
14.81500244140625,
9.78125,
5.40625,
3.410003662109375,
9,
339
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | cambridge_block_20 | 59 | Building | 0 | This building is at the intersection of Eden Street and Prospect row. It is at the corner of the intersection there are no cars parked on the side of it or in front of it. It is right next to the company building | [
1446.8125,
1000.6875,
42.650001525878906,
23.625,
15.8125,
7.500003814697266,
2,
59
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_10 | 135 | Car | 1 | The singular silver car found on the right side of the Master's Lodge building and left of the Chesterton Lane road. | [
466.53125,
1638.359375,
35.119998931884766,
4.4375,
4.3125,
1.44000244140625,
9,
135
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | cambridge_block_20 | 185 | Car | 3 | Black car on the right pavement along Clarendon street road. It has a blue car behind and no car in front of it. | [
1328.59375,
988.6328125,
39.03499984741211,
3.4375,
4.734375,
1.6100006103515625,
9,
185
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_20 | 103 | Building | 0 | A multi-colored brown and beige house, with a red door and a gray roof, off Melbourne place, next to a multicolored beige and light blue house with a gray roof | [
1406.25,
910.8046875,
42.23500061035156,
13.25,
12.265625,
10.130001068115234,
2,
103
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_10 | 190 | Ground | 3 | Green garden ground with trees in between the castle brae building and the castle end building. | [
453,
1741.984375,
41.724998474121094,
24.25,
25.6875,
1.589996337890625,
0,
190
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | birmingham_block_3 | 221 | Car | 5 | The sixth car (white) from the left parked on the bottom side of Thornbury Road. | [
633.9375,
165.453125,
13.335002899169922,
7.5,
10.09375,
1.6500015258789062,
9,
221
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | cambridge_block_10 | 14 | Building | 0 | A building with grey roof situated at the intersection point of two road named Park Parade and St John's road, a red car and black car parked on the road at the right side of the building. | [
699.59375,
1627.5703125,
38.869998931884766,
9.8125,
10.078125,
11.739997863769531,
2,
14
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | cambridge_block_10 | 177 | Ground | 0 | Large grass field with a foot path on the edge of the map, behind the Arundel house Hotel that is off Chesterton Road | [
657.375,
1934.6796875,
35.93000030517578,
75.25,
89.765625,
4.1399993896484375,
0,
177
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | cambridge_block_20 | 149 | Building | 4 | The row of blue buildings to the left of the small Fitzroy Street building. | [
1440.78125,
1110.6015625,
41.220001220703125,
17.0625,
26.546875,
7.200000762939453,
2,
149
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_9 | 70 | Car | 3 | This is a red car parked in the large parking space near Perry Barr. On its left there is a white car and on its right there is an empty spot. | [
950.84375,
902.296875,
10.959999084472656,
6,
4.65625,
1.6999969482421875,
9,
70
] | bev_cityrefer/birmingham_block_9.png | null | null |
cityrefer | cambridge_block_20 | 115 | Building | 4 | The tan building with a gray roof next to the Guthrie Court on Paradise Street. | [
1587.6875,
1060.3671875,
43.63500213623047,
8,
11.734375,
9.329998016357422,
2,
115
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_4 | 182 | Car | 0 | The bright blue car parked by itself in the far right of the parking lot behind the brown building at the intersection of Birchfield Road and Wellington Road, when viewed aerially with Birchfield Road to the right. | [
487.28125,
520.8125,
12.925003051757812,
10.4375,
3.8125,
1.4499969482421875,
9,
182
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | cambridge_block_10 | 37 | Building | 3 | Right side of a beige home in the gray roof, the third home from the edge of the map off Alpha Road that has a gray car with a black top in front of it | [
565.25,
1875.4609375,
45.595001220703125,
9,
8.921875,
4.75,
2,
37
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | birmingham_block_3 | 257 | Car | 5 | Front section of a white car with a black top, parked behind the Perry Barr carpets building on the corner of Bragg Road and Birchfield Road | [
537.5625,
340.765625,
13.105003356933594,
2.1875,
2.09375,
1.1100006103515625,
9,
257
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | birmingham_block_4 | 156 | Car | 2 | The black car and red car that are in the middle of the row of car that bends in the parking lot on the corner of Birchfield and Wellington roads. They are backed up to trees. | [
472.484375,
548.671875,
19.020000457763672,
2.90625,
5.21875,
13.180000305175781,
9,
156
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | cambridge_block_20 | 271 | Car | 2 | On Warkworth Street, to the left of Warkworth House this dark blue car is parked near the Cambridge & Peterborough Probation trust, south of another car. | [
1508.78125,
877.125,
39.2599983215332,
4.3125,
3.71875,
1.279998779296875,
9,
271
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_20 | 124 | Building | 2 | The gray building on Parkside that is 1 house to the left of the Cambridge Family Law Practice. | [
1376.375,
847.5703125,
44.599998474121094,
20.25,
17.203125,
15.759998321533203,
2,
124
] | bev_cityrefer/cambridge_block_20.png | null | York House |
cityrefer | birmingham_block_4 | 173 | Car | 6 | In the center area, a purple car is standing between a grey car and an ash-colored car. | [
461.453125,
540.125,
13.180000305175781,
4.28125,
5.3125,
1.3800048828125,
9,
173
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | cambridge_block_20 | 257 | Car | 0 | This is the red car, with a black car on one side and a yellow car on the other. these cars are in the parking lot next to the wellington house building. | [
1568.0625,
823.6953125,
48.3849983215332,
11.25,
8.703125,
20.349998474121094,
9,
257
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_10 | 184 | Ground | 0 | This is a ground consisting of three parts, two parts are green and one part is brown. this area is between River Cam and Hertford Street. | [
618.15625,
1734.6171875,
32.94499969482422,
65.6875,
64.296875,
4.3300018310546875,
0,
184
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | cambridge_block_10 | 562 | Parking | 0 | Parking lot behind the Carlyle house and next to the Henry Giles house near the corner of the map off Carlyle road | [
750.25,
1970.09375,
36.6349983215332,
33.75,
31.53125,
1.2900009155273438,
5,
562
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | birmingham_block_9 | 743 | Parking | 5 | The tiny gray rectangular parking space surrounded by yellow paint on the Coppice. | [
906.34375,
969.765625,
9.855003356933594,
10.25,
7.84375,
0.69000244140625,
5,
743
] | bev_cityrefer/birmingham_block_9.png | null | null |
cityrefer | cambridge_block_10 | 179 | Ground | 1 | The ground on the left side of the park at the end of the Staff house building. It doesn't have a path and is on the left side of the wall. | [
635.53125,
1921.5703125,
35.564998626708984,
22.0625,
41.140625,
1.5100021362304688,
0,
179
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | birmingham_block_9 | 205 | Car | 4 | The white car that is 6th from the left in the row of cars in the parking lot behind the West Midlands Police Custody Suite on Holford Drive. | [
1187.453125,
1071.109375,
5.130001068115234,
3.28125,
4.65625,
1.3199996948242188,
9,
205
] | bev_cityrefer/birmingham_block_9.png | null | null |
cityrefer | cambridge_block_20 | 211 | Car | 1 | One and gray car, behind a white car, on the corner of warkworth Street and warkworth Terrace, next to the warkworth house | [
1508.4375,
908.609375,
39.25499725341797,
5,
4.5,
1.8699989318847656,
9,
211
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_20 | 341 | Car | 2 | This is a blue car parked on Jesus Terrace. In front of it is a red car and behind it is a white car. | [
1372.625,
1087.09375,
38.654998779296875,
5,
7.28125,
1.3300018310546875,
9,
341
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_9 | 70 | Car | 5 | This is a red car parked in the parking space near Perry Barr. On its left there is a gray car and on its right there is an empty spot | [
950.84375,
902.296875,
10.959999084472656,
6,
4.65625,
1.6999969482421875,
9,
70
] | bev_cityrefer/birmingham_block_9.png | null | null |
cityrefer | cambridge_block_10 | 109 | Building | 1 | A building with grey roof and white wall at the opposite side of the building named Edward's court at the intersection point of two road named Hertford Street and East Hertford Street. | [
587,
1814.5234375,
41.025001525878906,
12.875,
14.734375,
10.829998016357422,
2,
109
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | cambridge_block_10 | 28 | Building | 2 | The third building from the corner of East Hertford Street on Alpha Road that has a black car across the street from it. | [
584.34375,
1860.1796875,
41.77000045776367,
10.0625,
9.484375,
8.459999084472656,
2,
28
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | birmingham_block_9 | 55 | Car | 3 | A white car parked in the parking area in front of a big ware house along the road named Aldridge road with a black car parked at its right side, there is no car parked at its left. A black car parked in front of it | [
876.046875,
1137.953125,
10.645004272460938,
4.40625,
3.15625,
1.470001220703125,
9,
55
] | bev_cityrefer/birmingham_block_9.png | null | null |
cityrefer | cambridge_block_20 | 146 | Building | 5 | Five story white building the gray roof has been cut off by the edge of the map that is next to the Wellington house off East Road | [
1589.15625,
845.921875,
48.904998779296875,
21.6875,
29.46875,
20.830001831054688,
2,
146
] | bev_cityrefer/cambridge_block_20.png | null | Cambridge County Court |
cityrefer | birmingham_block_4 | 173 | Car | 3 | A purple car in between a gray car and a white car, in the center aisle in the parking lot of a brown and beige house with a gray roof on the corner of Birchfield Road and Wellington Road near the roundabout | [
461.453125,
540.125,
13.180000305175781,
4.28125,
5.3125,
1.3800048828125,
9,
173
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | birmingham_block_3 | 125 | Building | 1 | The white building with grey roof that is about a middle of the Thornbury Road, Across is a black car that parked by the building with empty lot and brick wall as the fence | [
591.390625,
191.59375,
17.779998779296875,
8.96875,
16.75,
8.860000610351562,
2,
125
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | birmingham_block_4 | 104 | Car | 5 | The black car parked against the backside of the Jobcentre Plus building. | [
613.796875,
410.546875,
11.424999237060547,
5.15625,
2.34375,
1.2900009155273438,
9,
104
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | birmingham_block_9 | 17 | Building | 3 | The large white and navy blue building on Holford Drive with tennis courts behind it. | [
1157.140625,
1116.5,
10.84000015258789,
85.65625,
73.6875,
13.200004577636719,
2,
17
] | bev_cityrefer/birmingham_block_9.png | null | West Midlands Police Custody Suite |
cityrefer | cambridge_block_10 | 184 | Ground | 2 | The triangular lawn behind the Wentworth House and near the river along Hertford street. | [
618.15625,
1734.6171875,
32.94499969482422,
65.6875,
64.296875,
4.3300018310546875,
0,
184
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | birmingham_block_9 | 104 | Car | 1 | The black car at the edge of a parking section with a blue car on the right and a blue car below it outside the Perry Barr Bus Depot. | [
960.234375,
813.0625,
9.904998779296875,
2.15625,
4.125,
1.3899993896484375,
9,
104
] | bev_cityrefer/birmingham_block_9.png | null | null |
cityrefer | birmingham_block_4 | 157 | Car | 0 | One dark red car next to a blue car and a black car near the entrance way of a parking lot of a brown building with a gray roof on the corner of Wellington Road in Birchfield Road near the roundabout | [
444.09375,
518.609375,
13.145000457763672,
3.0625,
5.21875,
1.7099990844726562,
9,
157
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | cambridge_block_20 | 379 | Car | 2 | Blue car on the the left pavement along Grafton street. It has a white car behind it and a free slot in front. It is the second car on the lane. | [
1542.40625,
1040.546875,
39.93499755859375,
4.4375,
3.375,
1.4299964904785156,
9,
379
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_10 | 78 | Building | 1 | This is a residential building with a brown roof on Margrath Avenue. Next to it there are three identical looking residential buildings with a gray roof. | [
468.40625,
1826.53125,
46.869998931884766,
11.3125,
13.34375,
9.260002136230469,
2,
78
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | birmingham_block_3 | 307 | Car | 3 | This is a white car parked on Chesterwood Gardens. On its left, there is a lawn parted in the middle by a footpath. | [
737.96875,
383.53125,
10.230003356933594,
4.625,
3.125,
1.4199981689453125,
9,
307
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | cambridge_block_20 | 127 | Building | 0 | This is a white-walled building with a black gable roof and it is on the side of the city road, with a parking space for 6 cars next to it. There is a silver and a black car in this parking lot. | [
1488.8125,
1000.875,
43.68499755859375,
14.625,
13.0625,
8.490001678466797,
2,
127
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_3 | 40 | Building | 3 | A brown townhouse with a grey roof along Chesterwood Gardens. There are no cars parked in front of the house. There is a white van parked across the street. | [
715.6875,
375.140625,
14.25,
7.4375,
6.84375,
8.800003051757812,
2,
40
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | cambridge_block_10 | 125 | Building | 3 | Center House of three identical houses of Magrath Avenue that has a white car in front of it | [
487.78125,
1810.96875,
46.125,
8.4375,
8.78125,
8.529998779296875,
2,
125
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | birmingham_block_4 | 74 | Car | 2 | The silver car that is parked at the parking lot of the NT Wholesale cash & Carry and next to the Perry Barr Methodist Church, and close to the tree. | [
594.484375,
463.1875,
11.705001831054688,
14.90625,
7.75,
2.6300048828125,
9,
74
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | birmingham_block_9 | 90 | Car | 0 | A gray van parked next to a white car on the edge of the map, facing a darker gray car, in the parking lot of the Perry barr bus depot near a gray and blue building that is surrounded by trees | [
949.8125,
803.03125,
10.230003356933594,
2.625,
5.25,
1.779998779296875,
9,
90
] | bev_cityrefer/birmingham_block_9.png | null | null |
cityrefer | cambridge_block_20 | 1199 | Parking | 3 | The parking lot around the white T-shaped Wellington House along East road. | [
1569.46875,
834.8046875,
38.75,
39.9375,
35.234375,
1.0400009155273438,
5,
1199
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_10 | 86 | Building | 3 | The large building across from the Floating Wier Safety Barrier on Chersterton Road with a parking lot behind it. | [
709.1875,
1868.0625,
43.709999084472656,
58.5,
62.8125,
19.119998931884766,
2,
86
] | bev_cityrefer/cambridge_block_10.png | null | Arundel House Hotel |
cityrefer | cambridge_block_10 | 2 | Building | 2 | A long rectangular section of a great building with a light blue roof next to the Braeside building on the edge of the map off Chesterton Lane | [
458.09375,
1759.1015625,
49.04999923706055,
45.1875,
56.109375,
16.73999786376953,
2,
2
] | bev_cityrefer/cambridge_block_10.png | null | Castle End |
cityrefer | cambridge_block_10 | 566 | Parking | 2 | this is a parking area, this area is north of the Ethelreda building, south of the Castle House building, to the left is the Saint Giles building. | [
424.90625,
1689.828125,
41.39500045776367,
19.3125,
18.28125,
1.1500015258789062,
5,
566
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | cambridge_block_20 | 83 | Building | 2 | The gray building on Parkside that is 3 houses to the left of the York House. | [
1346.5625,
863.703125,
43.1349983215332,
12.25,
11.5,
13.909996032714844,
2,
83
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_4 | 193 | Car | 0 | This is a black car parked in the junk yard located on Wellington Road. The junk yard is technically also on Birchfield Road but it does not have car access to the road. On its right of the black car is a white car and on its left is another black car. | [
427.84375,
578.875,
13.915000915527344,
3.875,
4.5625,
2.25,
9,
193
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | cambridge_block_20 | 35 | Building | 8 | Located on Warkworth Terrace at the corner where it meets Warkworth Street, there is a light stone colored building with two turrets at the front and a few trees around it. Additionally, there are cars on the curb out front, including two red ones at the corner. | [
1496.6875,
893.4921875,
44.63999938964844,
19.75,
26.578125,
12.89999771118164,
2,
35
] | bev_cityrefer/cambridge_block_20.png | null | Warkworth House |
cityrefer | cambridge_block_20 | 45 | Building | 2 | A long building with a tree next to it with two white and one black car parked in front of it along City road. It is opposite interaction recruitment building. | [
1540.59375,
1137.4296875,
44.375,
17.6875,
34.265625,
10.25,
2,
45
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_20 | 106 | Building | 2 | The building on Elm Street that is second from the corner with Jesus Terrace with a green front. | [
1349.96875,
1074.359375,
42.26499938964844,
13.1875,
15.03125,
8.410003662109375,
2,
106
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_20 | 408 | Car | 2 | This is a red car parked near Victoria Hall on Victoria Street. in front of it is a white car and behind it is a black car. | [
1286.4375,
964.5859375,
38.994998931884766,
5,
4.984375,
1.30999755859375,
9,
408
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_9 | 115 | Car | 6 | The red car that is next to a blue car in the middle row of the Perry Barr Bus Depot parking lot. | [
955.71875,
813.328125,
9.945003509521484,
2.9375,
4.78125,
1.3700027465820312,
9,
115
] | bev_cityrefer/birmingham_block_9.png | null | null |
cityrefer | birmingham_block_4 | 49 | Car | 0 | A black car parked in front of a white and brown four story building on Wellington Road near Leslie Road. On the sidewalk beside it is a red object. | [
410.546875,
471.59375,
13.575000762939453,
4.59375,
3.6875,
1.5499954223632812,
9,
49
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | cambridge_block_20 | 80 | Building | 0 | A rectangular building with a white wall on the the right lane along City Road. It has a tree in front. There is John street road on the opposite lane. | [
1496.9375,
1010.546875,
43.96999740600586,
16.375,
25,
9.680000305175781,
2,
80
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_20 | 195 | Car | 0 | A dark blue car is parked at the right side of the road named Warkworth street, another blue car is parked at its back side and a white car parked in front of it. | [
1478.1875,
927.3671875,
39.244998931884766,
5,
4.671875,
1.9300003051757812,
9,
195
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | cambridge_block_10 | 199 | Ground | 1 | A strip of land with trees and grass that runs along beside the Floating Weir safety barrier on the River Cam. | [
720.28125,
1815.3359375,
32.7599983215332,
159.4375,
124.203125,
5.219999313354492,
0,
199
] | bev_cityrefer/cambridge_block_10.png | null | null |
cityrefer | birmingham_block_3 | 117 | Building | 0 | The seventh building from the left with grey roof and brown wall adjacent to other building situated at the right side of the road named Thornbury road. A squares shaped children's play ground is at the opposite side of the building. A white car parked on the road in front of the building. | [
630.75,
181.90625,
16.520000457763672,
8.75,
17.0625,
10.079994201660156,
2,
117
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | birmingham_block_3 | 137 | Building | 4 | The building on the Broadway that has a dark red car in the driveway and tall trees in the backyard. | [
579.078125,
234.1875,
18.470001220703125,
9.34375,
10.125,
5.339996337890625,
2,
137
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | cambridge_block_20 | 395 | Car | 2 | A grey car parked in between other two grey cars in front of the Victoria hall along Victoria street road. | [
1279.5625,
963.203125,
39.369998931884766,
9.875,
6.125,
2.1200027465820312,
9,
395
] | bev_cityrefer/cambridge_block_20.png | null | null |
cityrefer | birmingham_block_3 | 119 | Building | 1 | A house on the right side of Thornbury road. It is in the middle facing the green lawn in the opposite lane. It has two black cars parked in front. | [
621.28125,
184.328125,
17.105003356933594,
8.9375,
16.96875,
9.19000244140625,
2,
119
] | bev_cityrefer/birmingham_block_3.png | null | null |
cityrefer | birmingham_block_4 | 176 | Car | 0 | A black car in between two red cars on the grass Edge beside a blue building with a white roof, in the parking lot of a multicolored brown and beige building with a Gray roof on the corner of birchfield Road and Wellington Road near the roundabout | [
469.921875,
549,
12.915000915527344,
2.59375,
5.3125,
1.970001220703125,
9,
176
] | bev_cityrefer/birmingham_block_4.png | null | null |
cityrefer | cambridge_block_10 | 13 | Building | 1 | A section of a tall gray building along Park Parade, one house up from the edge of the map. | [
723.84375,
1603.484375,
39.21500015258789,
10.6875,
6.96875,
12.290000915527344,
2,
13
] | bev_cityrefer/cambridge_block_10.png | null | null |
End of preview.
YAML Metadata Warning:empty or missing yaml metadata in repo card
Check out the documentation for more information.
Urbex data assets
Annotations, landmarks, BEV images and scene-level oblique caches for Urbex.
Paper: https://arxiv.org/abs/2610.18356
Download selected scenes with scripts/data/download.sh from the code repository. Set HF_DATASET_ID to this repository ID. Archives restore the original verify_region_cache/<dataset>/<scene>/ layout. manifest.json records SHA-256 checksums, sizes and extraction paths. CityRefer candidate pools are optional resources for Hit@k evaluation. Original STPLS3D PLY files are included under raw_data/STPLS3D/; download them explicitly with --point-clouds. SensatUrban point clouds are not redistributed here (see below).
Sources and terms
These assets include processed annotations, rendered views and candidate pools based on upstream urban datasets. Their data terms are separate from the Urbex code license.
- CityRefer: the dataset datasheet specifies CC BY 4.0 for data and MIT for baseline code.
- SensatUrban: source point clouds for CityRefer scenes. The original point clouds are not included in this repository; obtain them through the official SensatUrban download form and place the PLY files under
raw_data/sensaturban/ply/{train,test}/for 3D metrics. This release does not assign a replacement license to SensatUrban-derived assets. - STPLS3D: the official data page specifies CC BY-NC-SA 3.0. Retain attribution, noncommercial use and share-alike conditions for STPLS3D-derived assets.
Urbex converts annotations to JSONL, generates BEV mappings and cached oblique renders, and packages those assets for scene-level downloads. Cite Urbex and the applicable upstream datasets. The included STPLS3D PLY files retain their source filenames and upstream data terms.
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