| --- |
| 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/](Mass_Estimation_Result/). |
|
|
| | File | Contents | |
| | --- | --- | |
| | [GT_object_mass.csv](Mass_Estimation_Result/GT_object_mass.csv) | GT masses for the 50 benchmark objects, taken from the supplied category-specific GT JSON snapshots | |
| | [baseline_mass_estimation.csv](Mass_Estimation_Result/baseline_mass_estimation.csv) | VLM_only, sam3d, and sam3d+sg mean mass estimates for the same 50 objects | |
| | [Snapphysics_mass_estimation.csv](Mass_Estimation_Result/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](snapphysics_CoG_estimation.csv) | Center-of-gravity estimates for the 96 linked object observations, with crop and PLY references | |
| | [observations.csv](observations.csv) | Links from evaluation objects to observations, scenes, masks, crops, and 3D files | |
| | [scenes.json](scenes.json) | Scene images, object file lists, coordinate frames, and source mappings | |
| | [raw_estimates/](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](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/](raw_estimates/). |
| |
| ## Estimated Center of Gravity |
| |
| Estimated center-of-gravity coordinates are provided in |
| [snapphysics_CoG_estimation.csv](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](scenes/Dining_room_1) | |
| | Dining room 2 | 11 | [Open scene](scenes/Dining_room_2) | |
| | Dining room 3 | 9 | [Open scene](scenes/Dining_room_3) | |
| | Dining room 4 | 9 | [Open scene](scenes/Dining_room_4) | |
| | Dining room 5 | 6 | [Open scene](scenes/Dining_room_5) | |
| | Office 1 | 5 | [Open scene](scenes/Office_1) | |
| | Office 2 | 7 | [Open scene](scenes/Office_2) | |
| | Office 3 | 7 | [Open scene](scenes/Office_3) | |
| | Office 4 | 2 | [Open scene](scenes/Office_4) | |
| | Office 5 | 4 | [Open scene](scenes/Office_5) | |
| | Living 1 | 3 | [Open scene](scenes/Living_1) | |
| | Living 2 | 4 | [Open scene](scenes/Living_2) | |
| | Living 3 | 4 | [Open scene](scenes/Living_3) | |
| | Living 4 | 4 | [Open scene](scenes/Living_4) | |
| | Living 5 | 3 | [Open scene](scenes/Living_5) | |
| | Desk Item 1 | 3 | [Open scene](scenes/Desk_Item_1) | |
| | Desk Item 2 | 4 | [Open scene](scenes/Desk_Item_2) | |
| | Desk Item 3 | 3 | [Open scene](scenes/Desk_Item_3) | |
| |
| [scenes.json](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. |
|
|
