README.md

---

license: cc-by-4.0
pretty_name: MedPhyGraph Procedural Support-Graph Data
viewer: false
tags:
  - digital-twins
  - scene-graphs
  - support-relations
  - counterfactual-evidence
  - structured-scene-states
  - procedural
  - robotics
  - reproducibility
---


# MedPhyGraph — Procedural Support-Graph Data

Structured procedural training and evaluation data for:

**MedPhyGraph: Counterfactual Support-Graph Maintenance for Dynamic Built-Environment Digital Twins**  
*TwinWorld: Visual Intelligence for Built Environment Digital Twins, ECCV 2026 Workshop*

This repository contains the procedural data released with MedPhyGraph,
including the candidate-edge data used with
[CF-SupportNet](https://huggingface.co/MedPhyGraph/CF-SupportNet) and the
structured procedural scenes used in the public evaluation workflows.

MedPhyGraph is a **method contribution**, not a dataset or benchmark
contribution. This repository is provided to make the released experiments
easier to inspect, reuse, and reproduce.

| Resource | Link |
|---|---|
| Paper | [openreview.net/forum?id=McTaO1qM8H](https://openreview.net/forum?id=McTaO1qM8H) |
| Dataset | **You are here** |
| Code | [github.com/kamranghz/medphygraph](https://github.com/kamranghz/medphygraph) |
| Model | [MedPhyGraph/CF-SupportNet](https://huggingface.co/MedPhyGraph/CF-SupportNet) |
| Project | [medphygraph.github.io](https://medphygraph.github.io/) |

## At a glance

| Item | Public release |
|---|---|
| Candidate-edge samples | **533** |
| Train / validation / test | **324 / 101 / 108** |
| Procedural scene states | **54** |
| Procedural transfer cases | **136** |
| Full expanded suite reported in the paper | **217 cases** |
| Isaac for Healthcare cases included here | **0** |
| License | **CC BY 4.0** |

The paper evaluates **217 expanded transfer cases** in total:

- **136 Procedural**
- **81 Isaac for Healthcare**

This repository contains the **136 Procedural cases only**.  
The 81 Isaac for Healthcare cases are not redistributed here.

---

## Download

The easiest way to download the complete public release is with the
Hugging Face CLI:

```bash

hf download MedPhyGraph/support-graph-data \

  --repo-type dataset \

  --local-dir ./support-graph-data

```

Or with Python:

```python

from huggingface_hub import snapshot_download



snapshot_download(

    repo_id="MedPhyGraph/support-graph-data",

    repo_type="dataset",

    local_dir="./support-graph-data",

)

```

Both methods download the complete public release while preserving its
directory structure.

Individual artifacts can also be inspected from the **Files and versions** tab
on Hugging Face.

> **Dataset Viewer**
>

> The Hugging Face Dataset Viewer is intentionally disabled. This release
> preserves the original scientific JSON artifacts, and different directories
> contain different JSON schemas. We keep those artifacts in their frozen form
> rather than reshaping them only for a tabular viewer.

---

## Contents

| Released directory | Contains | Expected MedPhyGraph path |
|---|---|---|
| `training_data/` | Frozen CF-SupportNet candidate-edge dataset and split | `outputs/dyphygraph_health/dataset_hard/` |
| `procedural_scenes/` | Structured Procedural scene states and transition metadata | `outputs/dyphygraph_health/scenes_twinworld_phase2/` |
| `expanded_transfer_procedural_v1/` | 136 Procedural transfer cases, targets, and before/after states | `outputs/reviewer_response/expanded_transfer_v1/` |

> **Note:** the release directory is named
> `expanded_transfer_procedural_v1/`, while the public evaluation scripts expect

> its contents under `outputs/reviewer_response/expanded_transfer_v1/`.

### `training_data/`



Contains:



- `dataset.json`

- `split.json`



The frozen dataset contains **533 candidate-edge samples**:



- Train: **324**

- Validation: **101**

- Test: **108**



The samples come from procedurally authored scenes and use the analytic

**AABB host-removal counterfactual evidence** protocol used by CF-SupportNet.



The analytic backend is a geometric proxy and should not be interpreted as a

full physics-engine simulation.



No Isaac-derived samples are included.



### `procedural_scenes/`

Contains the structured Procedural evaluation states released with MedPhyGraph.

The public release includes:

- **54 `scene.json` states**
- scene indexes
- transition metadata
- procedural AABB proxy geometry

These states are used by the public procedural evaluation workflow and can also
be used to regenerate intermediate procedural data required by some evaluation
scripts.

### `expanded_transfer_procedural_v1/`



Contains the public Procedural portion of the expanded transfer evaluation:



- **136 transfer cases**

- **272 before/after `scene.json` files**

- `predeclared_manifest.json`
- `targets.json`
- `scenes/procedural/`

This directory is **not the complete 217-case suite reported in the paper**.
It contains the 136 Procedural cases only.

For use with the public evaluation scripts, place its contents under:

```text

outputs/reviewer_response/expanded_transfer_v1/

```

so that the resulting layout contains:

```text

outputs/reviewer_response/expanded_transfer_v1/

├── predeclared_manifest.json

├── targets.json

└── scenes/

    └── procedural/

```

---

## What is not included

This repository does **not** redistribute:

- NVIDIA Isaac for Healthcare assets
- NVIDIA Isaac Sim USD / USDA / USDC files
- NVIDIA meshes or textures
- Isaac-derived structured scene states
- the 81 Isaac for Healthcare transfer cases reported in the paper

These resources are intentionally kept outside the public MedPhyGraph dataset
release.

---

## NVIDIA Isaac for Healthcare

The MedPhyGraph paper also evaluates the method in
**NVIDIA Isaac for Healthcare** environments.

To work with the Isaac portion of MedPhyGraph, users should obtain NVIDIA Isaac
Sim / Isaac for Healthcare and the required assets directly from NVIDIA under
the applicable NVIDIA license terms.

### Official NVIDIA resources

| Resource | Official link |
|---|---|
| NVIDIA Isaac for Healthcare | [developer.nvidia.com/isaac/healthcare](https://developer.nvidia.com/isaac/healthcare) |
| Getting Started | [NVIDIA documentation](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/index.html) |
| Setup Guide | [NVIDIA setup instructions](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/01-setup/01-setup.html) |
| Loading Assets | [NVIDIA asset-loading guide](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.html) |
| Isaac for Healthcare GitHub | [github.com/isaac-for-healthcare](https://github.com/isaac-for-healthcare) |
| i4h Workflows | [isaac-for-healthcare/i4h-workflows](https://github.com/isaac-for-healthcare/i4h-workflows) |

MedPhyGraph does not repackage or redistribute NVIDIA-authored assets. Users
obtain those resources directly from NVIDIA and work with them locally.

---

## Reproducibility

The public release supports several procedural evaluation workflows, but it is
important to distinguish between re-running the released evaluations and
regenerating every paper artifact from scratch.

### Procedural evaluation

The following public artifacts are available:

- the frozen **533-sample** candidate-edge dataset and split
- the **54** structured Procedural scene states
- the **136-case** Procedural expanded-transfer subset
- the paper-frozen
  [CF-SupportNet checkpoints](https://huggingface.co/MedPhyGraph/CF-SupportNet)
- the corresponding public MedPhyGraph evaluation code

With these artifacts, users can re-run evaluation using the released
candidate-edge dataset and paper-frozen CF-SupportNet checkpoints, and
re-evaluate the public 136-case Procedural expanded-transfer subset.

Some core procedural paper tables additionally require an intermediate file:

```text

outputs/dyphygraph_health/dataset_twinworld_phase2/dataset.json

```

That intermediate dataset is **not included directly** in this Hugging Face
release.

The corresponding structured Phase-2 procedural scenes are included under
`procedural_scenes/`, and the public MedPhyGraph code contains the
data-generation components needed for this workflow.

For this reason, this repository should be understood as the frozen public data
release supporting the Procedural evaluation workflows, rather than as a
one-command reproduction package for every paper table.

### Isaac for Healthcare evaluation

The Isaac portion additionally requires:

1. NVIDIA Isaac Sim / Isaac for Healthcare
2. the required NVIDIA assets obtained separately from NVIDIA
3. MedPhyGraph Isaac-facing scene-generation and evaluation components

The public MedPhyGraph code includes relevant components for working with
locally installed Isaac environments. However, the complete paper-frozen Isaac
scene-generation workflow is not currently packaged as a standalone end-to-end
public pipeline.

The structured states used for the paper's **81 Isaac cases** are also not
redistributed in this repository.

Therefore, the exact Isaac results reported in the paper should **not** be
expected to reproduce from the currently released public artifacts alone.

---

## Relationship to CF-SupportNet

[CF-SupportNet](https://huggingface.co/MedPhyGraph/CF-SupportNet) is the learned
candidate-edge scorer used within MedPhyGraph.

The model repository contains five paper-frozen checkpoints:

- **seed 0** — primary paper checkpoint
- **seeds 1–4** — multi-seed reproducibility checkpoints

MedPhyGraph itself is broader than CF-SupportNet.

In addition to the learned scorer, MedPhyGraph applies deterministic
**State Consistency** and **Union-Based Transition-Aware Consistency** to
maintain support relations across adjacent digital-twin states.

These deterministic components are part of the MedPhyGraph inference pipeline
and are not separate learned checkpoints. The full reference implementation is
on GitHub: [kamranghz/medphygraph](https://github.com/kamranghz/medphygraph).

---

## Integrity

Two files are provided for release verification:

- **`MANIFEST.json`** — index and metadata for the released public artifacts
- **`SHA256SUMS.txt`** — per-artifact SHA256 hashes for integrity checking

These files can be used to verify the released scientific artifacts in a local
copy.

---

## License

The MedPhyGraph-owned content in this repository is released under the
**Creative Commons Attribution 4.0 International License (CC BY 4.0)**.

NVIDIA Isaac for Healthcare assets are **not included** in this repository and
are not being relicensed by MedPhyGraph. NVIDIA resources remain subject to
NVIDIA's own license terms.

---

## Citation

Paper: [https://openreview.net/forum?id=McTaO1qM8H](https://openreview.net/forum?id=McTaO1qM8H)

If you use MedPhyGraph or these released artifacts, please cite:

```bibtex

@inproceedings{hamlabadi2026medphygraph,

  title     = {MedPhyGraph: Counterfactual Support-Graph Maintenance for Dynamic Built-Environment Digital Twins},

  author    = {Kamran Gholizadeh HamlAbadi and Monica Vahdati and Abdulmotaleb El Saddik},

  booktitle = {[Archival Track] ECCV 2026 TwinWorld: 1st Workshop on Visual Intelligence for Built Environment Digital Twins},

  year      = {2026},

  url       = {https://openreview.net/forum?id=McTaO1qM8H}

}

```