SpatialGym Environmental Scenes
Indoor scenes for the two environmental tasks of SpatialGym — Camera Relocalization and Novel Path Discovery — with the navigation grids and task pairs precomputed, so the environments run right after download. License: CC BY-NC-SA 4.0
Overview
| Source | Scenes | Camera Relocalization pairs (d1 / d2 / d3) | Novel Path Discovery pairs (d1 / d2 / d3) | Download | Unpacked |
|---|---|---|---|---|---|
| interioragent | 25 | 34 564 / 23 150 / 44 300 | 3 723 / 4 042 / 7 767 | 10.6 GB | 14 GB |
| internscenes-gen | 116 (bedroom 35, diningroom 42, livingroom 39) | 160 203 / 155 106 / 171 394 | 18 021 / 21 866 / 14 153 | 18.0 GB | 31 GB |
| scenesmith | 194 (29 house + 165 room) | 198 030 / 145 847 / 268 644 | 29 352 / 29 615 / 39 458 | 172 GB (5 parts) | 224 GB |
| Total | 335 | 392 797 / 324 103 / 484 338 | 51 096 / 55 523 / 61 378 | ~201 GB | ~270 GB |
Every scene carries a walkable grid and both tasks' pair tables; the per-task manifests list the
scenes each task draws from (manifest_*.json for Camera Relocalization, manifest_npd_*.json for
Novel Path Discovery).
Files
SpatialGym_Environmental/
├── README.md
├── manifest.json # Camera Relocalization, all sources
├── manifest_interioragent.json # … per source (runs use one source at a time)
├── manifest_internscenes-gen.json
├── manifest_scenesmith.json
├── manifest_npd.json # Novel Path Discovery, all sources
├── manifest_npd_interioragent.json
├── manifest_npd_internscenes-gen.json
├── manifest_npd_scenesmith.json
├── interioragent.tar.gz # unpacks to interioragent/
├── internscenes-gen.tar.gz # unpacks to internscenes-gen/
├── scenesmith.tar.gz.part-00 … -04 # one gzip stream in five numbered pieces (50 GB file cap):
│ # cat scenesmith.tar.gz.part-* | tar xz → scenesmith/
├── SHA256SUMS # checksums of the archives above
└── figures/ # the images in this README
Unpack the archives next to the manifests; manifest paths are relative to that directory.
SpatialGym_IsaacLab/assets/download.sh camera_relocalization in the SpatialGym repository
fetches, verifies and unpacks everything (or a subset of the sources).
Per-scene structure
Common to every scene (written by the SpatialGym preprocessing, identical format across sources):
| File | Description |
|---|---|
walkable_cells.json |
0.25 m navigation grid: cells, per-room ids, 4-neighbour adjacency, height map |
visibility.json, fov_cells.json |
Per-state field-of-view tables (1.6 m camera, 90°×90°) |
pair_candidates.json |
All reachable (init, goal) state pairs |
camera_relocalization/pairs.json |
Camera Relocalization pairs with difficulty tier |
novel_path_discovery/pairs.json |
Novel Path Discovery demo tours, obstacles and tiers |
walkable_grid.png |
Top-down grid visualisation |
interioragent — kujiale_XXXX/
| File / Folder | Description |
|---|---|
kujiale_XXXX.usda |
Scene USD (with its own lights) |
Meshes/, Materials/ |
Per-object meshes, PBR materials and textures |
rooms.json |
Room polygons |
*.hdr |
Environment map |
internscenes-gen — {bedroom,diningroom,livingroom}/{scene_id}/
| File / Folder | Description |
|---|---|
composed_scene_no_doors.usd |
Scene USD with doors removed (composed_scene.usd for the one scene that has none, livingroom/6032) |
layout.json |
Object layout (category, model id, bounding box) |
StructureMesh/ |
Floor / wall meshes and boundary_points.json |
textures/ |
Texture assets |
renders/ |
Preview renders |
scenesmith — {house,room}/scene_XXX/
| File / Folder | Description |
|---|---|
mujoco/usd/scene_scene_XXX.usda |
Scene USD (MuJoCo export; ceiling fixtures removed) |
mujoco/meshes/ |
Mesh assets |
combined_house/house.dmd.yaml |
Object list |
room_geometry/ |
Per-room geometry |
room_*/ |
Per-room assets |
- Downloads last month
- 706