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End of preview. Expand in Data Studio
Dataset Card for TST-ProcTHOR
Dataset Summary
This custom TST-ProcTHOR dataset is used in research work "Multimodality as Supervision: Self-Supervised Specialization to the Test Environment via Multimodality".
pretrain/is a multimodal pretraining dataset collected using ProcTHOR environment. It contains RGB images, and 9 additional tokenized modalities.segmentation/trainis the associated downstream dataset used to finetune TST pretrained models on semantic segmentation tasks.segmentation/testcontains the test dataset used for evaluation/testing on semantic segmentation task. This data corresponds to samples obtained from the test-space itself.
Dataset Structure
TST-ProcTHOR/
├── pretrain/
│ ├── test_spaces/
│ │ ├── crop_settings/ # Contains .tar shards
│ │ ├── det/ # Contains .tar shards
│ │ ├── rgb/ # Contains .tar shards
│ │ ├── tok_canny_edge@224/ # Contains .tar shards
│ │ ├── ... # More tokenized feature directories
│ │ └── tok_semseg@224/ # Contains .tar shards
│ └── transfer/
│ ├── crop_settings/ # Contains .tar shards
│ ├── det/ # Contains .tar shards
│ ├── rgb/ # Contains .tar shards
│ ├── tok_canny_edge@224/ # Contains .tar shards
│ ├── ... # More tokenized feature directories
│ └── tok_semseg@224/ # Contains .tar shards
├── segmentation/
│ ├── train/ # Training data for segmentation
│ └── test/ # Test data for segmentation
└── README.md
Dataset Creation
It includes procedurally generated house-like environments. We use 5 procedurally generated houses as our test space. Dataset is collected by randomly sample various agent x, y, z positions and orientations along its axis in the test space, and collect RGB-D images at these points.
Source Data
Dataset is collected from ProcTHOR simulator.
Citation Information
@article{singh2025tst,
title={Multimodality as Supervision: Self-Supervised Specialization to the Test Environment via Multimodality},
author={Kunal Pratap Singh and Ali Garjani and Muhammad Uzair Khattak and Rishubh Singh and Jason Toskov and Andrei Atanov and O{\u{g}}uzhan Fatih Kar and Amir Zamir},
journal={arxiv},
year={2025}
}
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