pretty_name: SnapPhysics Mass Estimation Benchmark
language:
- en
tags:
- mass-estimation
- AR
- VR
- MR
- 3D reconstruction
- physical interaction
configs:
- config_name: GT_object_mass
default: true
data_files:
- split: test
path: Mass_Estimation_Result/GT_object_mass.csv
- config_name: baseline_mass_estimation
data_files:
- split: test
path: Mass_Estimation_Result/baseline_mass_estimation.csv
- config_name: Snapphysics_mass_estimation
data_files:
- split: test
path: Mass_Estimation_Result/Snapphysics_mass_estimation.csv
- config_name: observations
data_files:
- split: test
path: observations.csv
- config_name: snapphysics_CoG_estimation
data_files:
- split: test
path: snapphysics_CoG_estimation.csv
SnapPhysics Mass Estimation Benchmark
This dataset provides a mass estimation benchmark for the 50 objects evaluated in the SnapPhysics paper, SnapPhysics: A Physics-Aware Scene Graph from a Single View for Interactive Mixed Reality Scenes. Three separate tables provide mass ground truth, baseline estimates, and SnapPhysics estimates for the same 50 benchmark objects, with one row per object in each table. Images, masks, and 3D reconstructions are supporting assets.
Mass data
The GT, baseline, and SnapPhysics mass result tables are grouped in Mass_Estimation_Result/.
| File | Contents |
|---|---|
| GT_object_mass.csv | GT masses for the 50 benchmark objects, taken from the supplied category-specific GT JSON snapshots |
| baseline_mass_estimation.csv | VLM_only, sam3d, and sam3d+sg mean mass estimates for the same 50 objects |
| Snapphysics_mass_estimation.csv | SnapPhysics mean mass estimates, standard deviations, and image-specific center-of-gravity estimates for the same 50 objects |
| snapphysics_CoG_estimation.csv | Center-of-gravity estimates for the 96 linked object observations, with crop and PLY references |
| observations.csv | Links from evaluation objects to observations, scenes, masks, crops, and 3D files |
| scenes.json | Scene images, object file lists, coordinate frames, and source mappings |
| raw_estimates/ | Individual baseline and SnapPhysics repeat estimates used to compute the summaries |
All masses are in kilograms. Original image identifiers are recorded in scenes.json. GT source filenames and JSON paths are recorded in the tables.
For each object observation in an input image, each method was evaluated with
10 independent runs × 10 repetitions per run, for 100 inference attempts.
The estimation tables report mean mass estimates. std_mass_kg is the population
standard deviation across valid repeats. Individual prediction records are
provided in raw_estimates/.
Estimated Center of Gravity
Estimated center-of-gravity coordinates are provided in snapphysics_CoG_estimation.csv, with separate 2D and 3D coordinate columns and one row per object observation.
These are estimates, not measured ground truth. Image coordinates are normalized within the referenced crop; 3D coordinates use the referenced PLY's original frame in arbitrary units, not meters.
For each source observation, coordinates are the arithmetic mean of ten run summaries, each based on ten valid predictions. Stored 2D and 3D coordinates are rounded to four and six decimal places, respectively, before averaging. Coordinates from different observations are kept separate.
Scenes
Images are titled Dining room 1–5, Office 1–5, Living 1–5, and Desk Item 1–3. The object count is the number of reconstructed objects included with each scene entry.
| Image title | Objects | Image and reconstruction files |
|---|---|---|
| Dining room 1 | 11 | Open scene |
| Dining room 2 | 11 | Open scene |
| Dining room 3 | 9 | Open scene |
| Dining room 4 | 9 | Open scene |
| Dining room 5 | 6 | Open scene |
| Office 1 | 5 | Open scene |
| Office 2 | 7 | Open scene |
| Office 3 | 7 | Open scene |
| Office 4 | 2 | Open scene |
| Office 5 | 4 | Open scene |
| Living 1 | 3 | Open scene |
| Living 2 | 4 | Open scene |
| Living 3 | 4 | Open scene |
| Living 4 | 4 | Open scene |
| Living 5 | 3 | Open scene |
| Desk Item 1 | 3 | Open scene |
| Desk Item 2 | 4 | Open scene |
| Desk Item 3 | 3 | Open scene |
scenes.json lists the image and object file paths.
Reconstruction files
Each scene folder contains its image and the masks/, crops/, and
3D_objects/ subfolders.
PLY files contain Gaussian vertices and retain their original coordinates.
For entries with asset_relationship=same_image, load the scene's object files
together.