spatialgym/SpatialGym_Environmental

SpatialGym Nav Dataset

Indoor scene assets for SpatialGym navigation task.
License: CC BY-NC-SA 4.0

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🔸 Dataset Overview

Source	Scenes	Size
internscenes-gen	120 (36 bedroom, 45 diningroom, 39 livingroom)	54 GB
scenesmith	208 (29 house + 179 room)	223 GB
sage3d	100	20 GB
interioragent	25	14 GB
Total	453	~311 GB

test_subset: ~12 GB, 20 scenes (9 internscenes-gen, 4 scenesmith, 5 sage3d, 2 interioragent) for quick test.

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🔸 Folder Structure

SpatialGym-Nav/
├── internscenes-gen/          # Text-to-3D generated scenes (one .tar per scene)
│   ├── bedroom/               # 36 scenes
│   ├── diningroom/            # 45 scenes
│   └── livingroom/            # 39 scenes
│       └── {scene_id}.tar
│
├── scenesmith/                # SceneSmith agentic generation (one .tar per scene)
│   ├── house/                 # 29 full-house scenes
│   │   └── scene_XXX.tar
│   └── room/                  # 179 single-room scenes
│       └── scene_XXX.tar
│
├── sage3d/                    # SAGE-3D dataset (one .tar per scene)
│   ├── 01/, 02/, ... 10/      # Category folders
│   │   └── {id}_{scene}.tar
│   └── ...
│
├── interioragent/             # Interior design scenes (Kujiale, one .tar per scene)
│   └── kujiale_XXXX.tar
│
└── test_subset/               # Small subset for testing (unpacked)
    ├── internscenes-gen/       # 9 scenes
    ├── scenesmith/            # 4 scenes (2 house + 2 room)
    ├── sage3d/                 # 5 scenes
    └── interioragent/         # 2 scenes

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🔸 Per-Scene Structure

🔹 internscenes-gen — {room_type}/{scene_id}/

File / Folder	Description
composed_scene.usd	Main scene USD
composed_scene.glb	GLB export
renders/	top.png, egocentric.png, corner_ne.png, corner_sw.png, camera_poses.json
StructureMesh/	boundary_points.json etc.
textures/	Texture assets

🔹 scenesmith — house/scene_XXX/ or room/scene_XXX/

File / Folder	Description
mujoco/usd/scene_scene_XXX.usda	Main scene USD (MuJoCo export)
mujoco/meshes/	Mesh assets
combined_house/	house.dmd.yaml, house.blend
room_*/	Per-room geometry and assets

🔹 sage3d — {category}/ (e.g. 01/, 02/) {prefix}_{scene_id}/

File / Folder	Description
{id}.usda, {id}_collision.usd	Scene USD and collision mesh
structure.json	Room structure (walls, doors, etc.)
occupancy.json, occupancy.png	Occupancy grid
labels.json	Semantic labels
3dgs_compressed.ply	3D Gaussian splatting (optional)

🔹 interioragent — kujiale_XXXX/

File / Folder	Description
kujiale_XXXX.usda	Main scene USD
Meshes/	Per-object .usd meshes
Materials/	PBR materials, textures
rooms.json	Room layout metadata
*.hdr	HDR environment map