SUNCG is a large-scale dataset of synthetic 3D scenes with dense volumetric annotations.
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AI2-Thor is an interactive environment for embodied AI. It contains four types of scenes, including kitchen, living room, bedroom and bathroom, and each scene includes 30 rooms, where each room is unique in terms of furniture placement and item types. There are over 2000 unique objects for AI agents to interact with.
94 PAPERS • 1 BENCHMARK
The Replica Dataset is a dataset of high quality reconstructions of a variety of indoor spaces. Each reconstruction has clean dense geometry, high resolution and high dynamic range textures, glass and mirror surface information, planar segmentation as well as semantic class and instance segmentation.
70 PAPERS • 1 BENCHMARK
R2R is a dataset for visually-grounded natural language navigation in real buildings. The dataset requires autonomous agents to follow human-generated navigation instructions in previously unseen buildings, as illustrated in the demo above. For training, each instruction is associated with a Matterport3D Simulator trajectory. 22k instructions are available, with an average length of 29 words. There is a test evaluation server for this dataset available at EvalAI.
69 PAPERS • 2 BENCHMARKS
The 2D-3D-S dataset provides a variety of mutually registered modalities from 2D, 2.5D and 3D domains, with instance-level semantic and geometric annotations. It covers over 6,000 m2 collected in 6 large-scale indoor areas that originate from 3 different buildings. It contains over 70,000 RGB images, along with the corresponding depths, surface normals, semantic annotations, global XYZ images (all in forms of both regular and 360° equirectangular images) as well as camera information. It also includes registered raw and semantically annotated 3D meshes and point clouds. The dataset enables development of joint and cross-modal learning models and potentially unsupervised approaches utilizing the regularities present in large-scale indoor spaces.
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AVD focuses on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured in 9 unique scenes.
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MINOS is a simulator designed to support the development of multisensory models for goal-directed navigation in complex indoor environments. MINOS leverages large datasets of complex 3D environments and supports flexible configuration of multimodal sensor suites.
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The HELP dataset is an automatically created natural language inference (NLI) dataset that embodies the combination of lexical and logical inferences focusing on monotonicity (i.e., phrase replacement-based reasoning). The HELP (Ver.1.0) has 36K inference pairs consisting of upward monotone, downward monotone, non-monotone, conjunction, and disjunction.
15 PAPERS • 1 BENCHMARK
A rich, extensible and efficient environment that contains 45,622 human-designed 3D scenes of visually realistic houses, ranging from single-room studios to multi-storied houses, equipped with a diverse set of fully labeled 3D objects, textures and scene layouts, based on the SUNCG dataset (Song et.al.)
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Talk The Walk is a large-scale dialogue dataset grounded in action and perception. The task involves two agents (a “guide” and a “tourist”) that communicate via natural language in order to achieve a common goal: having the tourist navigate to a given target location.
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IQUAD is a dataset for Visual Question Answering in interactive environments. It is built upon AI2-THOR, a simulated photo-realistic environment of configurable indoor scenes with interactive object. IQUAD V1 has 75,000 questions, each paired with a unique scene configuration.
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MineRLis an imitation learning dataset with over 60 million frames of recorded human player data. The dataset includes a set of tasks which highlights many of the hardest problems in modern-day Reinforcement Learning: sparse rewards and hierarchical policies.
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