Habitat Synthetic Scenes Dataset (HSSD-200): An Analysis of 3D Scene
Scale and Realism Tradeoffs for ObjectGoal Navigation
- URL: http://arxiv.org/abs/2306.11290v3
- Date: Fri, 8 Dec 2023 02:45:36 GMT
- Title: Habitat Synthetic Scenes Dataset (HSSD-200): An Analysis of 3D Scene
Scale and Realism Tradeoffs for ObjectGoal Navigation
- Authors: Mukul Khanna, Yongsen Mao, Hanxiao Jiang, Sanjay Haresh, Brennan
Shacklett, Dhruv Batra, Alexander Clegg, Eric Undersander, Angel X. Chang,
Manolis Savva
- Abstract summary: We investigate the impact of synthetic 3D scene dataset scale and realism on the task of training embodied agents to find and navigate to objects.
Our experiments show that agents trained on our smaller-scale dataset can match or outperform agents trained on much larger datasets.
- Score: 70.82403156865057
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: We contribute the Habitat Synthetic Scene Dataset, a dataset of 211
high-quality 3D scenes, and use it to test navigation agent generalization to
realistic 3D environments. Our dataset represents real interiors and contains a
diverse set of 18,656 models of real-world objects. We investigate the impact
of synthetic 3D scene dataset scale and realism on the task of training
embodied agents to find and navigate to objects (ObjectGoal navigation). By
comparing to synthetic 3D scene datasets from prior work, we find that scale
helps in generalization, but the benefits quickly saturate, making visual
fidelity and correlation to real-world scenes more important. Our experiments
show that agents trained on our smaller-scale dataset can match or outperform
agents trained on much larger datasets. Surprisingly, we observe that agents
trained on just 122 scenes from our dataset outperform agents trained on 10,000
scenes from the ProcTHOR-10K dataset in terms of zero-shot generalization in
real-world scanned environments.
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