← 研踪 PaperTrailarXiv:2604.23018 · v3
AmaraSpatial-10K: A Spatially and Semantically Aligned 3D Dataset for Spatial Computing and Embodied AI
首次提交 2026-04-25 05:09
版本更新 2026-10-27 03:47
雷达观测 2026-10-29 00:35
摘要
Web-scale 3D asset collections are abundant but rarely ready to ingest without cleanup, suffering from arbitrary metric scaling, incorrect pivots, brittle geometry, and incomplete textures, defects that limit their use in embodied AI, robotics, and spatial computing. We present AmaraSpatial-10K, a dataset of 10,071 synthetic 3D assets standardised for direct ingestion. Each asset ships as a metric-scaled, deterministically anchored .glb with separated PBR maps, a convex collision hull, a paired reference image, and multi-sentence text metadata. Alongside the dataset we introduce a reusable evaluation suite for 3D asset banks, a continuous Scale Plausibility Score (SPS), a keyword-based Concept Density metric, anchor-error auditing, and a cross-modal CLIP coherence protocol, and apply it to AmaraSpatial-10K alongside matched subsets of Objaverse, HSSD, ABO, and GSO. We check the annotations independently of the LLM/VLM pipeline that produced them: measured ABO object heights fall inside our scale intervals 88.7-90.7% of the time, and three non-author raters auditing a stratified sample of 314 assets judge 95.5% plausibly scaled and 99.7% correctly anchored. AmaraSpatial-10K improves CLIP Recall@5 by 3.4x over Objaverse (0.612 vs. 0.181, median rank 267 -> 3), achieves a 99.1% settling-stability rate under Habitat-Sim in static placement and collision tests, with ~20x lower per-load wall time, and as a drop-in Holodeck asset bank improves planned-scale matching and is preferred by blinded human raters in 27 of 40 paired scenes. Controlled ablations on the same asset bank attribute the retrieval gain to description richness.
作者备注：Accepted to NeurIPS 2026 (Evaluations and Datasets Track)
观测到的版本
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v3 · 2026-10-27 03:47 · 最新观测版本
AmaraSpatial-10K: A Spatially and Semantically Aligned 3D Dataset for Spatial Computing and Embodied AI
Web-scale 3D asset collections are abundant but rarely ready to ingest without cleanup, suffering from arbitrary metric scaling, incorrect pivots, brittle geometry, and incomplete textures, defects that limit their use in embodied AI, robotics, and spatial computing. We present AmaraSpatial-10K, a dataset of 10,071 synthetic 3D assets standardised for direct ingestion. Each asset ships as a metric-scaled, deterministically anchored .glb with separated PBR maps, a convex collision hull, a paired reference image, and multi-sentence text metadata. Alongside the dataset we introduce a reusable evaluation suite for 3D asset banks, a continuous Scale Plausibility Score (SPS), a keyword-based Concept Density metric, anchor-error auditing, and a cross-modal CLIP coherence protocol, and apply it to AmaraSpatial-10K alongside matched subsets of Objaverse, HSSD, ABO, and GSO. We check the annotations independently of the LLM/VLM pipeline that produced them: measured ABO object heights fall inside our scale intervals 88.7-90.7% of the time, and three non-author raters auditing a stratified sample of 314 assets judge 95.5% plausibly scaled and 99.7% correctly anchored. AmaraSpatial-10K improves CLIP Recall@5 by 3.4x over Objaverse (0.612 vs. 0.181, median rank 267 -> 3), achieves a 99.1% settling-stability rate under Habitat-Sim in static placement and collision tests, with ~20x lower per-load wall time, and as a drop-in Holodeck asset bank improves planned-scale matching and is preferred by blinded human raters in 27 of 40 paired scenes. Controlled ablations on the same asset bank attribute the retrieval gain to description richness.
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