We characterize each scene using the following metadata which were computed through
automated scripts or manual inspection.
Split specifies whether the scene belongs to the train / validation split.
The test scenes are held out for evaluation and not publicly released.
Reviewer rating (1-5) is a subjective assessment of the scene quality by human reviewers. The rating is based on visually inspecting the scene on metrics such as navigability, holes/cracks, furnishing, number of open/closed doors, and interactive potential. This varies from 1 (lowest) to 5 (highest).
# Floors is the number of floors in the scene. This was obtained by
manually inspecting the scene.
# Rooms is the number of rooms in the scene. This was obtained by
by automatically analyzing the 3D scan meshes (may have inaccuracies).
Furnished specifies whether large parts of the scene have furniture or not.
This was obtained by manually inspecting the scene.
Floor space (m2) measures the overall extents of the navigable regions in the scene. This is the area of the 2D-convex hull of all navigable locations within a floor. For scenes with multiple floors, the floor space is summed over all floors.
Navigable space (m2) measures the total scene area that is navigable in the scene. This is computed in reference to a cylindrical robot with radius 0.1m and height 1.5m.
Navigation complexity measures the difficulty of navigating in a scene. This is computed as the maximum ratio of geodesic to euclidean distances between any two navigable locations in the scene.
Scene clutter measures the amount of clutter in the scene. This is computed as the ratio between the scene mesh area within 0.5m of the navigable regions and the navigable space.