--- 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} } ```