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--- |
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license: cc-by-nc-4.0 |
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viewer: false |
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--- |
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# Habitat v0.3.x Benchmark Dataset |
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Assets, configs, and episodes for reproduceable benchmarking on Habitat v0.3.x. |
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## Setup |
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Clone this repo and symblink as `data/hab3_bench_assets` in habitat-lab directory. |
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Download the [Habitat compatable YCB SceneDataset](https://huggingface.co/datasets/ai-habitat/ycb) and create a symbolic link in `data/objects/ycb` or use the habitat-sim datasets_download script ([README](https://github.com/facebookresearch/habitat-sim/blob/main/DATASETS.md#ycb-benchmarks---object-and-model-set)). |
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## Contents: |
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- Scene Dataset: `hab3-hssd/` - the necessary configs and assets to load a subset of HSSD dataset into habitat-lab and utilize it for Hab3 rearrangement tasks. |
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- Episode Datasets: `episode_datasets` - a set of serialized RearrangeDataset files generated for the benchmark SceneDataset. See "Generating New Episodes" below for details. |
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- `hab3_bench_ep_gen_config.yaml` - config file for generating new RearrangeDataset files. |
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- Example Humanoid assets - URDF, skin meshes, motion files for one humanoid. |
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## Generating New Episodes: |
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The provided config `hab3_bench_ep_gen_config.yaml` is available for generating new hab3 benchmarking episodes. It defines the scene, objects, and generator configs (e.g. number of clutter objects). |
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The generator command should be run on a Habitat 3.0 compatable branch (e.g. SIRo) with the included assets from `fpss/fphab` commit `cd1549303d759abacbb377a8dd52c5f7af0d0e5a` as follows: |
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``` |
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python -u habitat-lab/habitat/datasets/rearrange/run_episode_generator.py --config data/hab3_bench_assets/hab3_bench_ep_gen_config.yaml --run --verbose --num-episodes 10 --seed 0 --out data/hab3_bench_assets/episode_datasets/large_large.json.gz |
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``` |
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Naming of the episode file `<scene_complexity>_<object_complexity>.json.gz` depends on the following parameters: |
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### Scene Complexity: |
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Currently we are testing on 3 differently sized scenes: |
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- `small`: 103997919_171031233 (area 35.92) - 1 bed, 1 bath |
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- `medium`: 108736635_177263256 (area 55.49) - 3 bed, 2 bath |
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- `large`: 102816009 (area 172.43) 4 bed, 4 bath + den & office |
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One of these scene sets must be selected in the config before generation. |
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### Object Complexity: |
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Currently we are testing 3 clutter object size complexities: |
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- `small`: 2 objects |
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- `medium`: 5 objects |
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- `large`: 10 objects |
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One of these sampler params must be selected in the config before generation. |
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## License Notes: |
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HSSD assets and episodes are provided under cc-by-nc license as a subset of the dataset described here: https://3dlg-hcvc.github.io/hssd/ |
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Example humanoid asset shapes are provided under cc-by-nc license and motions under [SMPL Body Motion File License ](https://smpl.is.tue.mpg.de/bodylicense.html) as a subset of https://huggingface.co/datasets/ai-habitat/habitat_humanoids |
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