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README.md

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----
-license: cc-by-nc-4.0
----
+---
+language:
+- en
+pretty_name: HSSD
+tags:
+- 3D scenes
+- Embodied AI
+license: cc-by-nc-4.0
+extra_gated_heading: "Acknowledge license to accept the repository"
+extra_gated_prompt: "You agree to use this dataset under the [CC BY-NC 4.0 license](https://creativecommons.org/licenses/by-nc/4.0/) terms"
+---
+
+HSSD: Habitat Synthetic Scenes Dataset
+==================================
+
+The [Habitat Synthetic Scenes Dataset (HSSD)](https://3dlg-hcvc.github.io/hssd/) is a human-authored 3D scene dataset that more closely mirrors real scenes than prior datasets.
+Our dataset represents real interiors and contains a diverse set of 211 scenes and more than 18000 models of real-world objects.
+
+<img src="https://i.imgur.com/XEkLxNs.png" width=50%>
+
+This repository provides a Habitat consumption-ready compressed version of HSSD.
+See [this repository](https://huggingface.co/datasets/hssd/hssd-models) for corresponding uncompressed assets.
+
+## Dataset Structure
+
+```
+├── objects
+│   ├── */*.glb
+│   ├── */*.collider.glb
+│   ├── */*.filteredSupportSurface(.ply|.glb)
+│   ├── */*.object_config.json
+├── stages
+│   ├── *.glb
+│   ├── *.stage_config.json
+├── scenes
+│   ├── *.scene_instance.json
+├── scenes_uncluttered
+│   ├── *.scene_instance.json
+├── scene_filter_files
+│   ├── *.rec_filter.json
+└── hssd-hab.scene_dataset_config.json
+└── hssd-hab-uncluttered.scene_dataset_config.json
+```
+
+- `hssd-hab.scene_dataset_config.json`: This SceneDataset config file aggregates the assets and metadata necessary to fully describe the set of stages, objects, and scenes constituting the dataset.
+- `objects`: 3D models representing distinct objects that are used to compose scenes. Contains configuration files, render assets, collider assets, and Receptacle mesh assets.
+- `stages`: A stage in Habitat is the set of static mesh components which make up the backdrop of a scene (e.g. floor, walls, stairs, etc.).
+- `scenes`: A scene is a single 3D world composed of a static stage and a variable number of objects.
+
+### Rearrange-ready assets:
+Supporting Habitat 3.0 embodied rearrangement tasks with updated colliders, adjusted and de-cluttered scene contents, receptacle meshes, and receptacle filter files. See [aihabitat.org/habitat3/](aihabitat.org/habitat3/) for more details.
+- `hssd-hab-uncluttered.scene_dataset_config.json`: This SceneDataset config file aggregates adds the adjusted and uncluttered scenes for rearrangement tasks.
+- `scenes_uncluttered`: Contains the adjusted scene instance configuration files.
+- `scene_filter_files`: A scene filter file organizes available Receptacle instances in a scene into active and inactive groups based on simualtion heuristics and manual edits. It is consumed by the RearrangeEpisodeGenerator to construct valid RearrangeEpisodeDatasets.
+
+
+## Getting Started
+
+To load HSSD scenes into the Habitat simulator, you can start by installing [habitat-sim](https://github.com/facebookresearch/habitat-sim) using instructions specified [here](https://github.com/facebookresearch/habitat-sim#installation).
+
+Once installed, you can run the interactive Habitat viewer to load a scene:
+
+```
+habitat-viewer --dataset /path/to/hssd-hab/hssd-hab.scene_dataset_config.json -- 102344280
+# or ./build/viewer if compiling from source
+```
+
+You can find more information about using the interactive viewer [here](https://github.com/facebookresearch/habitat-sim#testing:~:text=path/to/data/-,Interactive%20testing,-%3A%20Use%20the%20interactive).
+
+Habitat-Sim is typically used with [Habitat-Lab](https://github.com/facebookresearch/habitat-lab), a modular high-level library for end-to-end experiments in embodied AI.
+To define embodied AI tasks (e.g. navigation, instruction following, question answering), train agents, and benchmark their performance using standard metrics, you can download habitat-lab using the instructions provided [here](https://github.com/facebookresearch/habitat-lab#installation).
+
+## Changelog
+- `v0.2.5`: **Rearrange-ready HSSD**
+   - Note: this is a checkpoint. Known issues exist and continued polish is ongoing.
+   - Adds Receptacle meshes describing support surfaces for small objects (e.g. table or shelf surfaces).
+   - Adds collider meshes (.collider.glb) for assets with Receptacle meshes to support simulation.
+   - Adds new scenes 'scenes_uncluttered' and new SceneDataset 'hssd-hab-uncluttered' containing adjusted and de-cluttered versions of the scenes for use in embodied rearrangement tasks.
+   - Adds 'scene_filter_files' which sort Receptacles in each scene into active and inactive groups for RearrangeEpisode generation.
+- `v0.2.3`: First release.
+- `v0.2.4`: 
+  - Recompresses several object GLBs to preserve PBR material status.
+  - Adds CSV with object metadata and semantic lexicon files for Habitat.
+  - Adds train/val scene splits file.

hssd-hab-uncluttered.scene_dataset_config.json

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+{
+  "stages": {
+    "paths": {
+      ".json": [
+        "stages"
+      ]
+    }
+  },
+  "objects": {
+    "paths": {
+      ".json": [
+        "objects/*",
+        "objects/decomposed/*"
+      ]
+    }
+  },
+  "pbr_ibl_configs": {
+    "default_attributes": {},
+    "paths": {
+      ".json": [
+        "pbr"
+      ]
+    }
+  },
+  "scene_instances": {
+    "default_attributes": {
+      "default_lighting": "",
+      "semantic_scene_instance": "%%CONFIG_NAME_AS_ASSET_FILENAME%%.semantic_config.json"
+    },
+    "paths": {
+      ".json": [
+        "scenes-uncluttered"
+      ]
+    }
+  },
+  "semantic_scene_descriptor_instances": {
+    "default_attributes": {
+      "semantic_descriptor_filename": "../hssd-hab_semantic_lexicon.json"
+    },
+    "paths": {
+      ".json": [
+        "semantics/scenes/*"
+      ]
+    }
+  }
+}

hssd-hab.scene_dataset_config.json

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+{
+  "stages": {
+    "paths": {
+      ".json": [
+        "stages"
+      ]
+    }
+  },
+  "objects": {
+    "paths": {
+      ".json": [
+        "objects/*",
+        "objects/decomposed/*"
+      ]
+    }
+  },
+  "pbr_ibl_configs": {
+    "default_attributes": {},
+    "paths": {
+      ".json": [
+        "pbr"
+      ]
+    }
+  },
+  "scene_instances": {
+    "default_attributes": {
+      "default_lighting": "",
+      "semantic_scene_instance": "%%CONFIG_NAME_AS_ASSET_FILENAME%%.semantic_config.json"
+    },
+    "paths": {
+      ".json": [
+        "scenes"
+      ]
+    }
+  },
+  "semantic_scene_descriptor_instances": {
+    "default_attributes": {
+      "semantic_descriptor_filename": "../hssd-hab_semantic_lexicon.json"
+    },
+    "paths": {
+      ".json": [
+        "semantics/scenes/*"
+      ]
+    }
+  }
+}

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