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📄 Abstract - InternScenes: A Large-scale Simulatable Indoor Scene Dataset with Realistic Layouts

The advancement of Embodied AI heavily relies on large-scale, simulatable 3D scene datasets characterized by scene diversity and realistic layouts. However, existing datasets typically suffer from limitations in data scale or diversity, sanitized layouts lacking small items, and severe object collisions. To address these shortcomings, we introduce \textbf{InternScenes}, a novel large-scale simulatable indoor scene dataset comprising approximately 40,000 diverse scenes by integrating three disparate scene sources, real-world scans, procedurally generated scenes, and designer-created scenes, including 1.96M 3D objects and covering 15 common scene types and 288 object classes. We particularly preserve massive small items in the scenes, resulting in realistic and complex layouts with an average of 41.5 objects per region. Our comprehensive data processing pipeline ensures simulatability by creating real-to-sim replicas for real-world scans, enhances interactivity by incorporating interactive objects into these scenes, and resolves object collisions by physical simulations. We demonstrate the value of InternScenes with two benchmark applications: scene layout generation and point-goal navigation. Both show the new challenges posed by the complex and realistic layouts. More importantly, InternScenes paves the way for scaling up the model training for both tasks, making the generation and navigation in such complex scenes possible. We commit to open-sourcing the data, models, and benchmarks to benefit the whole community.

顶级标签: robotics agents data
详细标签: embodied ai 3d scenes dataset scene generation navigation 或 搜索:

📄 论文总结

InternScenes:一个具有真实布局的大规模可模拟室内场景数据集 / InternScenes: A Large-scale Simulatable Indoor Scene Dataset with Realistic Layouts


1️⃣ 一句话总结

这篇论文提出了一个名为InternScenes的大规模可模拟室内场景数据集,它通过整合多种来源的场景数据并保留大量小物品,解决了现有数据集在规模、多样性和布局真实性方面的不足,为具身AI任务如场景生成和导航提供了更复杂和真实的训练环境。


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