Proxy3D: Efficient 3D Representations for Vision-Language Models via Semantic Clustering and Alignment
Paper • 2605.08064 • Published
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conversations list | intrinsics string | bboxes string | images string |
|---|---|---|---|
[
{
"from": "human",
"value": "<image>What is <OBJ027>?"
},
{
"from": "gpt",
"value": "Wall."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0672_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0672_01/scene0672_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0672_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ024>?"
},
{
"from": "gpt",
"value": "Paper."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0303_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0303_01/scene0303_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0303_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ014>?"
},
{
"from": "gpt",
"value": "Towel."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0390_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0390_00/scene0390_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0390_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ059>?"
},
{
"from": "gpt",
"value": "Book."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0408_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0408_01/scene0408_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0408_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ017>?"
},
{
"from": "gpt",
"value": "Window."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0370_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0370_01/scene0370_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0370_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ009>?"
},
{
"from": "gpt",
"value": "Chair."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0569_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0569_01/scene0569_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0569_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ008>?"
},
{
"from": "gpt",
"value": "Picture."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0335_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0335_00/scene0335_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0335_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ013>?"
},
{
"from": "gpt",
"value": "Door."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0642_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0642_01/scene0642_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0642_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ012>?"
},
{
"from": "gpt",
"value": "Chair."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0001_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0001_00/scene0001_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0001_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ060>?"
},
{
"from": "gpt",
"value": "Object."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0630_06/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0630_06/scene0630_06_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0630_06_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ016>?"
},
{
"from": "gpt",
"value": "Bin."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><... | data/poses_extra/scene0142_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0142_00/scene0142_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0142_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ027>?"
},
{
"from": "gpt",
"value": "Socket."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0297_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0297_01/scene0297_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0297_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ012>?"
},
{
"from": "gpt",
"value": "Window."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0142_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0142_00/scene0142_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0142_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ011>?"
},
{
"from": "gpt",
"value": "Chair."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0572_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0572_02/scene0572_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0572_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ081>?"
},
{
"from": "gpt",
"value": "Book."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0547_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0547_01/scene0547_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0547_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ001>?"
},
{
"from": "gpt",
"value": "Window."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0611_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0611_00/scene0611_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0611_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ053>?"
},
{
"from": "gpt",
"value": "Bottle."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0597_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0597_00/scene0597_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0597_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ011>?"
},
{
"from": "gpt",
"value": "Table."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0420_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0420_01/scene0420_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0420_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ008>?"
},
{
"from": "gpt",
"value": "Table."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0239_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0239_00/scene0239_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0239_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ026>?"
},
{
"from": "gpt",
"value": "Chair."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0475_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0475_02/scene0475_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0475_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ025>?"
},
{
"from": "gpt",
"value": "Plug."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0325_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0325_01/scene0325_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0325_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ043>?"
},
{
"from": "gpt",
"value": "Socket."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0475_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0475_02/scene0475_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0475_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ011>?"
},
{
"from": "gpt",
"value": "Chair."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0023_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0023_00/scene0023_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0023_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ008>?"
},
{
"from": "gpt",
"value": "Monitor."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0517_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0517_01/scene0517_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0517_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ025>?"
},
{
"from": "gpt",
"value": "Switch."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0097_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0097_00/scene0097_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0097_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ011>?"
},
{
"from": "gpt",
"value": "Doorframe."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><i... | data/poses_extra/scene0540_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0540_01/scene0540_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0540_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ017>?"
},
{
"from": "gpt",
"value": "Cabinet."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0201_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0201_01/scene0201_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0201_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ020>?"
},
{
"from": "gpt",
"value": "Picture."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0027_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0027_00/scene0027_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0027_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ002>?"
},
{
"from": "gpt",
"value": "Mailbox."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0694_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0694_01/scene0694_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0694_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ033>?"
},
{
"from": "gpt",
"value": "Stopcock."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><im... | data/poses_extra/scene0447_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0447_00/scene0447_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0447_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ031>?"
},
{
"from": "gpt",
"value": "Object."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0263_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0263_00/scene0263_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0263_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ062>?"
},
{
"from": "gpt",
"value": "Shoe."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0384_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0384_00/scene0384_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0384_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ035>?"
},
{
"from": "gpt",
"value": "Bin."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><... | data/poses_extra/scene0155_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0155_00/scene0155_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0155_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ057>?"
},
{
"from": "gpt",
"value": "Radio."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0206_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0206_02/scene0206_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0206_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ027>?"
},
{
"from": "gpt",
"value": "Book."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0320_03/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0320_03/scene0320_03_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0320_03_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ072>?"
},
{
"from": "gpt",
"value": "Paper."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0240_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0240_00/scene0240_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0240_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ061>?"
},
{
"from": "gpt",
"value": "Box."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><... | data/poses_extra/scene0419_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0419_01/scene0419_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0419_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ013>?"
},
{
"from": "gpt",
"value": "Plant."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0299_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0299_01/scene0299_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0299_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ027>?"
},
{
"from": "gpt",
"value": "Speaker."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0673_05/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0673_05/scene0673_05_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0673_05_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ051>?"
},
{
"from": "gpt",
"value": "Object."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0646_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0646_00/scene0646_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0646_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ032>?"
},
{
"from": "gpt",
"value": "Towel."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0265_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0265_02/scene0265_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0265_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ043>?"
},
{
"from": "gpt",
"value": "Door."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0411_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0411_01/scene0411_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0411_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ024>?"
},
{
"from": "gpt",
"value": "Wall."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0029_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0029_01/scene0029_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0029_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ050>?"
},
{
"from": "gpt",
"value": "Clothes."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0554_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0554_01/scene0554_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0554_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ048>?"
},
{
"from": "gpt",
"value": "Paper."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0630_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0630_02/scene0630_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0630_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ026>?"
},
{
"from": "gpt",
"value": "Curtain."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0673_03/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0673_03/scene0673_03_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0673_03_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ025>?"
},
{
"from": "gpt",
"value": "Chair."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0188_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0188_00/scene0188_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0188_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ002>?"
},
{
"from": "gpt",
"value": "Door."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0491_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0491_00/scene0491_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0491_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ020>?"
},
{
"from": "gpt",
"value": "Picture."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0303_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0303_01/scene0303_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0303_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ007>?"
},
{
"from": "gpt",
"value": "Stool."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0531_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0531_00/scene0531_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0531_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ018>?"
},
{
"from": "gpt",
"value": "Bin."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><... | data/poses_extra/scene0404_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0404_00/scene0404_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0404_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ002>?"
},
{
"from": "gpt",
"value": "Chair."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0313_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0313_01/scene0313_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0313_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ029>?"
},
{
"from": "gpt",
"value": "Mirror."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0034_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0034_01/scene0034_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0034_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ022>?"
},
{
"from": "gpt",
"value": "Picture."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0520_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0520_01/scene0520_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0520_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ021>?"
},
{
"from": "gpt",
"value": "Pillow."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0536_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0536_02/scene0536_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0536_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ031>?"
},
{
"from": "gpt",
"value": "Picture."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0672_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0672_00/scene0672_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0672_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ020>?"
},
{
"from": "gpt",
"value": "Speaker."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0010_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0010_01/scene0010_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0010_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ027>?"
},
{
"from": "gpt",
"value": "Picture."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0212_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0212_01/scene0212_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0212_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ044>?"
},
{
"from": "gpt",
"value": "Chair."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0411_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0411_02/scene0411_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0411_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ073>?"
},
{
"from": "gpt",
"value": "Object."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0168_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0168_02/scene0168_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0168_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ025>?"
},
{
"from": "gpt",
"value": "Picture."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0267_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0267_00/scene0267_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0267_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ022>?"
},
{
"from": "gpt",
"value": "Ledge."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0116_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0116_01/scene0116_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0116_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ079>?"
},
{
"from": "gpt",
"value": "Paper."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0168_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0168_01/scene0168_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0168_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ008>?"
},
{
"from": "gpt",
"value": "Table."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0045_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0045_00/scene0045_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0045_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ033>?"
},
{
"from": "gpt",
"value": "Book."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0525_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0525_01/scene0525_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0525_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ045>?"
},
{
"from": "gpt",
"value": "Table."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0590_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0590_00/scene0590_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0590_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ003>?"
},
{
"from": "gpt",
"value": "Cabinet."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0439_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0439_01/scene0439_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0439_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ041>?"
},
{
"from": "gpt",
"value": "Object."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0584_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0584_00/scene0584_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0584_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ015>?"
},
{
"from": "gpt",
"value": "Book."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0408_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0408_01/scene0408_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0408_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ035>?"
},
{
"from": "gpt",
"value": "Monitor."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0320_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0320_00/scene0320_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0320_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ009>?"
},
{
"from": "gpt",
"value": "Cabinet."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0115_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0115_02/scene0115_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0115_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ029>?"
},
{
"from": "gpt",
"value": "Door."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0012_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0012_01/scene0012_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0012_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ077>?"
},
{
"from": "gpt",
"value": "Box."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><... | data/poses_extra/scene0117_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0117_00/scene0117_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0117_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ010>?"
},
{
"from": "gpt",
"value": "Chair."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0245_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0245_00/scene0245_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0245_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ087>?"
},
{
"from": "gpt",
"value": "Support."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0206_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0206_00/scene0206_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0206_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ033>?"
},
{
"from": "gpt",
"value": "Fireplace."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><i... | data/poses_extra/scene0233_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0233_00/scene0233_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0233_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ059>?"
},
{
"from": "gpt",
"value": "Box."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><... | data/poses_extra/scene0654_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0654_00/scene0654_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0654_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ057>?"
},
{
"from": "gpt",
"value": "Picture."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0336_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0336_01/scene0336_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0336_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ027>?"
},
{
"from": "gpt",
"value": "Ledge."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0116_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0116_01/scene0116_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0116_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ017>?"
},
{
"from": "gpt",
"value": "Microwave."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><i... | data/poses_extra/scene0068_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0068_00/scene0068_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0068_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ056>?"
},
{
"from": "gpt",
"value": "Socket."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0181_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0181_01/scene0181_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0181_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ017>?"
},
{
"from": "gpt",
"value": "Ledge."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0434_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0434_02/scene0434_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0434_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ003>?"
},
{
"from": "gpt",
"value": "Couch."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0036_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0036_00/scene0036_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0036_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ011>?"
},
{
"from": "gpt",
"value": "Chair."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0603_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0603_01/scene0603_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0603_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ029>?"
},
{
"from": "gpt",
"value": "Chair."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0283_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0283_00/scene0283_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0283_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ013>?"
},
{
"from": "gpt",
"value": "Ottoman."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0674_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0674_00/scene0674_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0674_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ036>?"
},
{
"from": "gpt",
"value": "Wall."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0301_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0301_00/scene0301_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0301_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ016>?"
},
{
"from": "gpt",
"value": "Dresser."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0051_03/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0051_03/scene0051_03_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0051_03_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ010>?"
},
{
"from": "gpt",
"value": "Shelf."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0168_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0168_02/scene0168_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0168_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ068>?"
},
{
"from": "gpt",
"value": "Paper."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0240_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0240_00/scene0240_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0240_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ009>?"
},
{
"from": "gpt",
"value": "Chair."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0358_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0358_01/scene0358_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0358_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ025>?"
},
{
"from": "gpt",
"value": "Door."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image>... | data/poses_extra/scene0223_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0223_01/scene0223_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0223_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ018>?"
},
{
"from": "gpt",
"value": "Chair."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0173_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0173_02/scene0173_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0173_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ040>?"
},
{
"from": "gpt",
"value": "Refrigerator."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image... | data/poses_extra/scene0235_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0235_00/scene0235_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0235_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ011>?"
},
{
"from": "gpt",
"value": "Object."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0526_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0526_00/scene0526_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0526_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ041>?"
},
{
"from": "gpt",
"value": "Object."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0446_00/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0446_00/scene0446_00_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0446_00_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ026>?"
},
{
"from": "gpt",
"value": "Laptop."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0051_02/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0051_02/scene0051_02_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0051_02_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ070>?"
},
{
"from": "gpt",
"value": "Object."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0166_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0166_01/scene0166_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0166_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ013>?"
},
{
"from": "gpt",
"value": "Cabinet."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><ima... | data/poses_extra/scene0654_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0654_01/scene0654_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0654_01_gridmap.png |
[
{
"from": "human",
"value": "<image>What is <OBJ040>?"
},
{
"from": "gpt",
"value": "Pillow."
},
{
"from": "supervision",
"value": "<image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><image><imag... | data/poses_extra/scene0147_01/intrinsic.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/bboxes_mmscan_stage_1/scene0147_01/scene0147_01_bboxes.txt | /rscratch/wzzheng/code/jerry/SpatialVLM/data/cmap_mmscan_adaptive/scene0147_01_gridmap.png |
End of preview.
SpaceSpan Dataset
SpaceSpan is a large-scale dataset curated for the training and evaluation of 3D vision-language models (VLMs), specifically introduced in the paper Proxy3D: Efficient 3D Representations for Vision-Language Models via Semantic Clustering and Alignment.
Project Page | GitHub Repository
Dataset Description
The SpaceSpan dataset is designed to help VLMs develop spatial intelligence through 3D proxy representations. It incorporates heterogeneous visual information with a unified data format, enabling multi-stage training for skills ranging from simple image-text alignment to complex 3D spatial reasoning, 3D visual question answering (VQA), and visual grounding.
The dataset includes approximately 318K samples used across four progressive training stages.
Dataset Structure
The repository includes the following components used for the Proxy3D training pipeline:
- Training Instructions: JSON files for stages 1 through 4 (e.g.,
stage_4_train_318K.json). - Embeddings: Pre-computed semantic embeddings for efficiency.
- Segmentation masks: Preprocessed per frame segmentation masks.
- Geometric Data: Pointmaps and camera poses for 3D reconstruction and scene representation.
For evaluation annotations, please refer to the Proxy3D-annotations repository.
Citation
If you use this dataset in your research, please cite the following paper:
@article{proxy3d2026,
title={Proxy3D: Efficient 3D Representations for Vision-Language Models via Semantic Clustering and Alignment},
author={Jiang, Jerry and Sun, Haowen and Gudovskiy, Denis and Nakata, Yohei and Okuno, Tomoyuki and Keutzer, Kurt and Zheng Wenzhao},
journal={arXiv preprint arXiv:2605.08064},
year={2026}
}
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