Add 11 flat_navigation CVPR USD assets with validation and RTX reviews

cvpr/flat_navigation/roomtour/rtx_capture.json

@@ -0,0 +1,47 @@
+[
+  {
+    "camera": 0,
+    "file": "previews/rtx_00.png",
+    "very_dark_pixel_fraction": 0.00500625
+  },
+  {
+    "camera": 1,
+    "file": "previews/rtx_01.png",
+    "very_dark_pixel_fraction": 0.020091666666666667
+  },
+  {
+    "camera": 2,
+    "file": "previews/rtx_02.png",
+    "very_dark_pixel_fraction": 5.833333333333333e-05
+  },
+  {
+    "camera": 3,
+    "file": "previews/rtx_03.png",
+    "very_dark_pixel_fraction": 0.007414583333333333
+  },
+  {
+    "camera": 4,
+    "file": "previews/rtx_04.png",
+    "very_dark_pixel_fraction": 0.0011020833333333334
+  },
+  {
+    "camera": 5,
+    "file": "previews/rtx_05.png",
+    "very_dark_pixel_fraction": 0.001925
+  },
+  {
+    "camera": 6,
+    "file": "previews/rtx_06.png",
+    "very_dark_pixel_fraction": 0.0006208333333333334
+  },
+  {
+    "camera": 7,
+    "file": "previews/rtx_07.png",
+    "very_dark_pixel_fraction": 0.009735416666666667
+  },
+  {
+    "camera": 8,
+    "file": "previews/rtx_08.png",
+    "very_dark_pixel_fraction": 2.0833333333333334e-06
+  }
+]

cvpr/flat_navigation/roomtour/validation.json

@@ -0,0 +1,24 @@
+{
+  "usd": {
+    "dependencies_resolved": true,
+    "particle_count": 2966064,
+    "partitions": [
+      2796154,
+      169910
+    ],
+    "ground_z": 0.0,
+    "ground_height_range": 0.0,
+    "collision_count": 1
+  },
+  "usdz": {
+    "dependencies_resolved": true,
+    "particle_count": 2966064,
+    "partitions": [
+      2796154,
+      169910
+    ],
+    "ground_z": 0.0,
+    "ground_height_range": 0.0,
+    "collision_count": 1
+  }
+}

cvpr/flat_navigation/sculpture/README.txt

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+sculpture — 平地导航版
+
+优先打开 sculpture.usdz。它包含所有高斯、视觉平面和地面碰撞体。
+使用 sculpture.usd 时必须同时保留 scene.usda、gaussians.usdc、navigation_floor.usda。
+主导航地面统一位于世界 Z=0；所有视觉地面顶点和碰撞顶面共面，坡度为零。
+/World/NavigationFloor/Collider 为静态地面碰撞体，静摩擦 0.9、动摩擦 0.8、恢复系数 0。
+/World/NavigationFloor/Visual 为平面外观，没有法线贴图或位移贴图。
+
+场景根据原地面法线做了刚体校平，坐标转换矩阵见 report.json。
+机器人初始根节点高度应按自身足底偏移设置，不应直接将机器人根节点放在 Z=0。
+
+验证：289 条 PhysX 射线均落在 Z=0；五个 30 kg、边长 0.2 m 的测试块模拟落地 4 秒无穿透。
+另有 9 张实际 RTX 检查图。
+
+范围：替换主导航层地面。楼梯、上层平台与家具仍为视觉高斯物体，未添加障碍物碰撞体。
+未运行具体人形机器人的步态控制器，不能等同于整套导航或运动策略验证。
+原始重建的物体边缘毛刺及反射残影仍可能存在。
+本版发布目录为 cvpr/flat_navigation；旧 repaired 版本保留。

cvpr/flat_navigation/sculpture/cleaned.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:691b8ee3ebd2e29497ce710829a174ab40e3d1c0e72405e7b8d7b1e3c1db442a
+size 748749740

cvpr/flat_navigation/sculpture/completion.ply

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e2a788b69b6d6504f601f60c7d41e9c1be69b5fe20e45f5903c29991c2bb795
+size 5611290

cvpr/flat_navigation/sculpture/gaussians.usdc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bb6d0ce8b73ae30a25d980a75da878861a37af54721dc72efaf380edc52fd09
+size 709638712

cvpr/flat_navigation/sculpture/physics_validation.json

@@ -0,0 +1,19 @@
+{
+  "ray_count": 289,
+  "max_abs_height_error_m": 0.0,
+  "height_range_m": 0.0,
+  "probe_mass_kg": 30,
+  "probe_count": 5,
+  "probe_size_m": 0.2,
+  "probe_center_z_m": [
+    0.10000083595514297,
+    0.10000087320804596,
+    0.10000085085630417,
+    0.10000085830688477,
+    0.09999960660934448
+  ],
+  "physics_dt": 0.008333333333333333,
+  "simulated_seconds": 4.0,
+  "backend": "PhysX",
+  "passed": true
+}

cvpr/flat_navigation/sculpture/report.json

@@ -0,0 +1,195 @@
+{
+  "asset": "sculpture",
+  "floor_z": 0.0,
+  "floor_slope": 0.0,
+  "visual_floor_height_range": 0.0,
+  "collision_floor_height_range": 0.0,
+  "floor_bounds_xy": [
+    [
+      -63.194110190490406,
+      -69.05953348589661
+    ],
+    [
+      66.8058898095096,
+      60.94046651410339
+    ]
+  ],
+  "scene_bounds_xy": [
+    [
+      -5.825811402585529,
+      -16.195717723500856
+    ],
+    [
+      9.437591021604721,
+      8.076650751707634
+    ]
+  ],
+  "source_floor_plane": [
+    -0.00031952065493398617,
+    -0.00044221058713260486,
+    -1.0404179196691292
+  ],
+  "source_to_world_row_matrix": [
+    [
+      0.9999999489532868,
+      -7.064769243879877e-08,
+      0.00031952060738234955,
+      0.0
+    ],
+    [
+      -7.064769243879877e-08,
+      0.9999999022249201,
+      0.00044221052132203254,
+      0.0
+    ],
+    [
+      -0.00031952060738234955,
+      -0.00044221052132203254,
+      0.999999851178207,
+      0.0
+    ],
+    [
+      -0.00033243496562416076,
+      -0.0004600837506496702,
+      1.040417764832269,
+      1.0
+    ]
+  ],
+  "ground_cleanup": {
+    "cleaned.ply": {
+      "input": 3232488,
+      "removed_floor": 213342,
+      "retained": 3019146
+    },
+    "completion.ply": {
+      "input": 134029,
+      "removed_floor": 111409,
+      "retained": 22620
+    }
+  },
+  "retained_count": 3041766,
+  "cameras": [
+    {
+      "eye": [
+        -1.4708916570827448,
+        -9.183881791833764,
+        1.3499998031132285
+      ],
+      "target": [
+        -1.7310751573400707,
+        -7.2007779606471365,
+        1.1007935773922535
+      ],
+      "name": "0.2_forward"
+    },
+    {
+      "eye": [
+        -1.4708916570827448,
+        -9.183881791833764,
+        1.3499998031132285
+      ],
+      "target": [
+        -3.4538051113721804,
+        -9.44403432726261,
+        1.0992511378740968
+      ],
+      "name": "0.2_side"
+    },
+    {
+      "eye": [
+        -1.4708916570827448,
+        -9.183881791833764,
+        1.3499998031132285
+      ],
+      "target": [
+        -1.6005600424059838,
+        -8.191743947298809,
+        -0.09960311456970805
+      ],
+      "name": "0.2_floor"
+    },
+    {
+      "eye": [
+        -1.3478772778825767,
+        -8.588585818870454,
+        1.3499998017080523
+      ],
+      "target": [
+        -1.6080607781403515,
+        -6.605481987684448,
+        1.1007935773922533
+      ],
+      "name": "0.5_forward"
+    },
+    {
+      "eye": [
+        -1.3478772778825767,
+        -8.588585818870454,
+        1.3499998017080523
+      ],
+      "target": [
+        -3.3307907321724612,
+        -8.848738354299922,
+        1.0992511378740966
+      ],
+      "name": "0.5_side"
+    },
+    {
+      "eye": [
+        -1.3478772778825767,
+        -8.588585818870454,
+        1.3499998017080523
+      ],
+      "target": [
+        -1.4775456632062645,
+        -7.596447974336121,
+        -0.09960311456970805
+      ],
+      "name": "0.5_floor"
+    },
+    {
+      "eye": [
+        -0.7597138571258915,
+        1.746297134914876,
+        1.349999806437159
+      ],
+      "target": [
+        -1.019897357382155,
+        3.7294009661029723,
+        1.1007935773922535
+      ],
+      "name": "0.8_forward"
+    },
+    {
+      "eye": [
+        -0.7597138571258915,
+        1.746297134914876,
+        1.349999806437159
+      ],
+      "target": [
+        -2.7426273114142643,
+        1.4861445994874989,
+        1.0992511378740966
+      ],
+      "name": "0.8_side"
+    },
+    {
+      "eye": [
+        -0.7597138571258915,
+        1.746297134914876,
+        1.349999806437159
+      ],
+      "target": [
+        -0.8893822424480679,
+        2.7384349794513003,
+        -0.09960311456970805
+      ],
+      "name": "0.8_floor"
+    }
+  ],
+  "scope": "Main navigation level is replaced by a horizontal floor. Existing stairs and upper platforms remain scene objects, not extra walkable navigation levels.",
+  "collision_scope": "Static ground collider only; Gaussian furniture and walls do not have obstacle colliders.",
+  "physics_validation": "passed: 289 downward rays and five 30 kg drop probes",
+  "rtx_validation": "Nine actual RTX views captured and visually reviewed",
+  "limitations": "Only main-level ground collision is authored. Gaussian obstacles, furniture, stairs and upper platforms are visual only. No humanoid controller or locomotion policy has been tested."
+}

cvpr/flat_navigation/sculpture/rtx_capture.json

@@ -0,0 +1,47 @@
+[
+  {
+    "camera": 0,
+    "file": "previews/rtx_00.png",
+    "very_dark_pixel_fraction": 0.11270625
+  },
+  {
+    "camera": 1,
+    "file": "previews/rtx_01.png",
+    "very_dark_pixel_fraction": 0.00093125
+  },
+  {
+    "camera": 2,
+    "file": "previews/rtx_02.png",
+    "very_dark_pixel_fraction": 4.166666666666667e-06
+  },
+  {
+    "camera": 3,
+    "file": "previews/rtx_03.png",
+    "very_dark_pixel_fraction": 0.0733625
+  },
+  {
+    "camera": 4,
+    "file": "previews/rtx_04.png",
+    "very_dark_pixel_fraction": 3.3333333333333335e-05
+  },
+  {
+    "camera": 5,
+    "file": "previews/rtx_05.png",
+    "very_dark_pixel_fraction": 0.00013541666666666666
+  },
+  {
+    "camera": 6,
+    "file": "previews/rtx_06.png",
+    "very_dark_pixel_fraction": 0.13282708333333335
+  },
+  {
+    "camera": 7,
+    "file": "previews/rtx_07.png",
+    "very_dark_pixel_fraction": 0.0435125
+  },
+  {
+    "camera": 8,
+    "file": "previews/rtx_08.png",
+    "very_dark_pixel_fraction": 0.030835416666666667
+  }
+]

cvpr/flat_navigation/sculpture/scene.usda

@@ -0,0 +1,82 @@
+#usda 1.0
+(
+    defaultPrim = "World"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    def Xform "Captured" (
+        prepend references = @gaussians.usdc@
+    )
+    {
+    }
+
+    def "Completion"
+    {
+        def Material "OpaqueFloor_Material"
+        {
+            token outputs:surface.connect = </World/Completion/OpaqueFloor_Material/Surface.outputs:surface>
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0, 0, 0)
+                color3f inputs:emissiveColor.connect = </World/Completion/OpaqueFloor_Material/Color.outputs:result>
+                float inputs:opacity = 1
+                float inputs:roughness = 1
+                token outputs:surface
+            }
+
+            def Shader "Color"
+            {
+                uniform token info:id = "UsdPrimvarReader_float3"
+                token inputs:varname = "displayColor"
+                color3f outputs:result
+            }
+        }
+
+        def Mesh "BoundaryPanels" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+            customData = {
+                string provenance = "Procedural completion; not reconstructed ground truth"
+            }
+        )
+        {
+            uniform bool doubleSided = 1
+            int[] faceVertexCounts = [4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4]
+            int[] faceVertexIndices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243]
+            rel material:binding = </World/Completion/BoundaryPanels_Material>
+            point3f[] points = [(-4.3862576, 7.055778, -1.4392023), (-4.631483, 7.026445, -1.4392023), (-4.631483, 7.026445, 3.6914878), (-4.3862576, 7.055778, 3.6914878), (-4.631483, 7.026445, -1.4392023), (-5.234117, 6.8533654, -1.4392023), (-5.234117, 6.8533654, 3.6914878), (-4.631483, 7.026445, 3.6914878), (-5.234117, 6.8533654, -1.4392023), (-5.256213, 6.843929, -1.4392023), (-5.256213, 6.843929, 3.6914878), (-5.234117, 6.8533654, 3.6914878), (-5.256213, 6.843929, -1.4392023), (-5.199536, 5.585915, -1.4392023), (-5.199536, 5.585915, 3.6914878), (-5.256213, 6.843929, 3.6914878), (-5.199536, 5.585915, -1.4392023), (-5.142858, 4.3279014, -1.4392023), (-5.142858, 4.3279014, 3.6914878), (-5.199536, 5.585915, 3.6914878), (-5.142858, 4.3279014, -1.4392023), (-5.0861807, 3.0698874, -1.4392023), (-5.0861807, 3.0698874, 3.6914878), (-5.142858, 4.3279014, 3.6914878), (-5.0861807, 3.0698874, -1.4392023), (-5.0295033, 1.8118738, -1.4392023), (-5.0295033, 1.8118738, 3.6914878), (-5.0861807, 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+            color3f[] primvars:displayColor = [(0.05497173, 0.039681915, 0.02451501), (0.05729046, 0.041303616, 0.025460606), (0.057479814, 0.041435976, 0.025537737), (0.055356707, 0.039951235, 0.024672141), (0.05248491, 0.03794128, 0.023498675), (0.057157245, 0.041210473, 0.025406325), (0.055311155, 0.039919376, 0.024653552), (0.05250209, 0.03795331, 0.02350571), (0.05718543, 0.04123017, 0.02541781), (0.055265542, 0.039887466, 0.024634939), (0.05251999, 0.03796584, 0.023513023), (0.057212994, 0.04124943, 0.025429035), (0.055219863, 0.039855506, 0.024616295), (0.052538544, 0.03797884, 0.023520622), (0.052933883, 0.038255643, 0.02368234), (0.054477125, 0.039335825, 0.024313059), (0.05756768, 0.04149741, 0.025573526), (0.052904904, 0.03823535, 0.023670489), (0.052397218, 0.03787987, 0.023462797), (0.05421412, 0.03915178, 0.024205634), (0.056777332, 0.040944822, 0.025251511), (0.05770377, 0.04159254, 0.025628954), (0.056100372, 0.040471423, 0.024975521), (0.053502306, 0.03865358, 0.023914756), (0.052288566, 0.03780379, 0.023418332), (0.05352227, 0.038667552, 0.023922917), (0.05773165, 0.041612025, 0.025640305), (0.05369437, 0.038788024, 0.023993267), (0.05356051, 0.03869432, 0.023938552), (0.05612255, 0.04048692, 0.024984565), (0.057707276, 0.04159499, 0.025630377), (0.056758747, 0.04093183, 0.025243929), (0.05419121, 0.03913574, 0.024196267), (0.052390672, 0.03787528, 0.023460116), (0.05294937, 0.038266495, 0.023688681), (0.055380642, 0.039967995, 0.024681913), (0.057490006, 0.041443102, 0.025541889), (0.05727704, 0.04129422, 0.025455138), (0.054947644, 0.03966505, 0.024505178), (0.052696064, 0.038089134, 0.023585072), (0.054882657, 0.039619584, 0.02447865), (0.052538544, 0.03797884, 0.023520622), (0.0572399, 0.041268248, 0.025440006), (0.054612108, 0.03943028, 0.02436818), (0.057516515, 0.041461643, 0.02555269), (0.05282152, 0.038176976, 0.023636388), (0.054657362, 0.03946195, 0.02438666), (0.057498008, 0.04144871, 0.025545144), (0.05279493, 0.03815836, 0.023625508), (0.057070646, 0.04114991, 0.025371043), (0.055445127, 0.04001309, 0.024708223), (0.052453436, 0.037919242, 0.0234858), (0.057100613, 0.04117087, 0.025383258), (0.05539977, 0.039981358, 0.024689713), (0.05761145, 0.041527994, 0.025591347), (0.05571214, 0.040199865, 0.024817161), (0.053182337, 0.038429588, 0.023783948), (0.054129682, 0.03909269, 0.02417114), (0.057670124, 0.04156902, 0.025615245), (0.0523202, 0.03782593, 0.023431279), (0.05670791, 0.040896278, 0.025223212)] (
+                interpolation = "uniform"
+            )
+            uniform token subdivisionScheme = "none"
+            token visibility = "invisible"
+        }
+
+        def Material "BoundaryPanels_Material"
+        {
+            token outputs:surface.connect = </World/Completion/BoundaryPanels_Material/Surface.outputs:surface>
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0, 0, 0)
+                color3f inputs:emissiveColor.connect = </World/Completion/BoundaryPanels_Material/Color.outputs:result>
+                float inputs:opacity = 1
+                float inputs:roughness = 1
+                token outputs:surface
+            }
+
+            def Shader "Color"
+            {
+                uniform token info:id = "UsdPrimvarReader_float3"
+                token inputs:varname = "displayColor"
+                color3f outputs:result
+            }
+        }
+    }
+}
+

cvpr/flat_navigation/sculpture/sculpture.usd

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+size 3056

cvpr/flat_navigation/sculpture/sculpture.usdz

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+oid sha256:32194fcade6d7e6c8b826e83f408f152e82e837823398a9b587e27fab0f4e9e6
+size 718162704

cvpr/flat_navigation/sculpture/validation.json

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+{
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+}

cvpr/flat_navigation/validation_summary.json

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