HSSD Dataset Overview

Basic Information

• Name: Habitat Synthetic Scenes Dataset (HSSD)
• Type: 3D scene dataset
• Description: HSSD is a human‑crafted 3D scene dataset that more closely resembles real environments. It includes 211 scenes and over 18,000 real‑world object models.
• License: CC BY‑NC 4.0

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

Main Components

• objects: Independent object 3D models used to build scenes, including configuration files, rendering assets, collider assets, and receiver mesh assets.
• stages: In Habitat, a stage is a collection of static mesh components that form the background of a scene (e.g., floor, walls, stairs).
• scenes: A scene consists of static stages plus a variable number of objects forming a single 3D world.

Supported Assets

• hssd-hab-uncluttered.scene_dataset_config.json: Aggregates the adjusted, de‑cluttered scenes for rearrangement tasks.
• scenes_uncluttered: Contains the adjusted scene instance configuration files.
• scene_filter_files: Scene filter files divide receiver instances in scenes into active and inactive groups based on simulation heuristics and manual editing; used by RearrangeEpisodeGenerator to construct valid RearrangeEpisodeDatasets.

Version Updates

• v0.2.5: Added receiver meshes describing support surfaces for small objects, added collider meshes for simulation, added adjusted and de‑cluttered scenes for rearrangement tasks, and added scene filter files for RearrangeEpisode generation.
• v0.2.4: Re‑compressed multiple object GLBs to preserve PBR material states, added object metadata and semantic vocabularies, and added train/validation scene split files.
• v0.2.3: Initial release.