Initial release

.gitattributes

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+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
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DATA_TERMS.md

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+# Data terms and attribution
+
+This data release contains author-created benchmark tasks and annotations together with information derived from the Habitat-Matterport 3D and Habitat-Matterport 3D Semantics datasets. It is separate from the Apache-2.0 code license.
+
+Use and redistribution of HM3D/HM3DSem-derived information remain subject to the applicable upstream terms, including the Matterport End User License Agreement for Academic Use of Model Data:
+https://matterport.com/legal/matterport-end-user-license-agreement-academic-use-model-data
+
+Use the HM3D/HM3DSem-derived information for academic, non-commercial purposes under that agreement. Preserve attribution and the agreement/link. Distribution of a substantial portion of the dataset, directly or through derived information, requires each recipient's affirmative acceptance before access and a record of that acceptance.
+
+The original textured scene meshes are obtained separately through the upstream provider. Scene geometry and navigation assets in this package are not offered under an unrestricted Creative Commons license.
+
+Please cite the ReCoNav paper when using its benchmark and the HM3D and HM3DSem papers when using the underlying scenes. Preserve any third-party notices included with source category mappings or other reused assets.
+
+Upstream sources:
+- https://aihabitat.org/datasets/hm3d/
+- https://aihabitat.org/datasets/hm3d-semantics/

README.md

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+---
+pretty_name: ReCoNav Benchmark
+language:
+  - en
+license: other
+license_name: hm3d-hm3dsem-academic-use
+license_link: https://huggingface.co/datasets/psiang/ReCoNavBench/blob/main/DATA_TERMS.md
+size_categories:
+  - n<1K
+tags:
+  - vision-and-language-navigation
+  - embodied-ai
+  - navigation
+  - benchmark
+  - hm3d
+extra_gated_prompt: "Read DATA_TERMS.md and the Matterport Academic Use Agreement at https://matterport.com/legal/matterport-end-user-license-agreement-academic-use-model-data before requesting access."
+extra_gated_fields:
+  Name: text
+  Institution: text
+  I accept the Matterport Academic Use Agreement and the dataset terms: checkbox
+---
+
+# ReCoNav Benchmark
+
+**192 constrained navigation tasks across nine HM3DSem scenes**, with scene ASGs, physical navigation geometry and evaluator annotations. Tasks cover goals, ordered visits, avoidance, counts, preferences and combinations of these requirements. All tasks are evaluation tasks.
+
+[Code and running instructions](https://github.com/psiang/ReCoNav) · [Data terms](DATA_TERMS.md)
+
+## Citation
+
+```bibtex
+@misc{peng2026reconav,
+  title  = {{ReCoNav}: Reliable Constrained Long-Horizon Vision-and-Language Navigation via a Determination Engine},
+  author = {Peng, Sixiang and Yu, Zehuan and Liu, Wenyi and Xie, Zhensheng and Zhang, Charles and Jiang, Chenhan},
+  year   = {2026},
+  url    = {https://github.com/psiang/ReCoNav}
+}
+```
+
+Also cite [HM3D](https://aihabitat.org/datasets/hm3d/) and [HM3DSem](https://aihabitat.org/datasets/hm3d-semantics/) when using the underlying scenes.
+
+## Download
+
+Accept the access terms on [this dataset's page](https://huggingface.co/datasets/psiang/ReCoNavBench), then download:
+
+```bash
+python -m pip install huggingface_hub
+hf auth login
+export RECONAV_BENCHMARK_REPO=psiang/ReCoNavBench
+export RECONAV_DATA_ROOT=/absolute/path/to/data
+hf download "$RECONAV_BENCHMARK_REPO" reconav-benchmark-v1.0.0.tar.gz \
+  --repo-type dataset --revision v1.0.0 --local-dir downloads
+mkdir -p "$RECONAV_DATA_ROOT"
+tar -xzf downloads/reconav-benchmark-v1.0.0.tar.gz -C "$RECONAV_DATA_ROOT"
+```
+
+Version: **1.0.0**. The archive extracts one `benchmark/` directory. Data can be stored anywhere, independently of the code checkout.
+
+## Contents
+
+| Path under `benchmark/` | Contents |
+|---|---|
+| `tasks/hm3dsem/<scene>/<task>.json` | Instruction/start, task category, gold symbolic requirements, target metadata and reference route |
+| `scenes/hm3dsem/<scene>/asg/` | Entity, geometry and topology JSON files |
+| `scenes/hm3dsem/<scene>/navigation/graph.json.gz` | Physical free-space geometry and connectivity for route planning and evaluation |
+| `splits/` | `all.json` (192 tasks) and `hard44.json` (44 tasks) |
+| `vocabularies/` | Object and region category mappings |
+| `manifest.json` | Version, scene IDs, task counts and coordinate conventions |
+
+Hard44 contains 44 hard-constraint-resolving tasks supported by every compared method. Each task's `uniqueness_proof.identity_class` records whether target identity is resolved by a local qualifier, direct reference, hard constraint or preference.
+
+Prediction inputs are the instruction, start and scene information. Gold target IDs, symbolic contracts and route witnesses are evaluator annotations. Route points use Habitat x/y/z, with y vertical; task `robot_position` uses x/y horizontally and `floor_height` vertically. ASG footprints use x/z.
+
+## Use
+
+Install the code repository, then inspect the benchmark:
+
+```bash
+reconav benchmark
+```
+
+Follow the repository README for model setup and a one-task ReCoNav run. Choose `--split all`, `--split hard44` or `--task-ids ID [ID ...]` independently of the selected method. A new method can use the task instructions/starts and ASGs with the repository's common evaluator.
+
+Follow the code repository for method-specific environments, checkpoints and resources.
+
+## Original scene meshes
+
+ReCoNav and its ablations use the packaged ASGs and physical graphs. Simulator and image-rendering methods also need HM3D v0.2 validation scene files. Sign in to Matterport and follow the [official download/access instructions](https://github.com/matterport/habitat-matterport-3dresearch). The relevant upstream packages are:
+
+| Download | Scene files |
+|---|---|
+| [hm3d-val-habitat-v0.2.tar](https://api.matterport.com/resources/habitat/hm3d-val-habitat-v0.2.tar) | Habitat `.basis.glb` geometry |
+| [hm3d-val-glb-v0.2.tar](https://api.matterport.com/resources/habitat/hm3d-val-glb-v0.2.tar) | Original JPEG-textured `.glb` for rendering |
+
+ReCoNav uses these nine scene directories, also listed in `benchmark/manifest.json`:
+
+```text
+00824-Dd4bFSTQ8gi
+00829-QaLdnwvtxbs
+00843-DYehNKdT76V
+00848-ziup5kvtCCR
+00849-a8BtkwhxdRV
+00853-5cdEh9F2hJL
+00861-GLAQ4DNUx5U
+00873-bxsVRursffK
+00891-cvZr5TUy5C5
+```
+
+Keep each selected scene's files together and point `RECONAV_HM3D_ROOT` to the `val/` directory:
+
+```bash
+export RECONAV_HM3D_ROOT=/absolute/path/to/hm3d/val
+```
+
+For example:
+
+```text
+$RECONAV_HM3D_ROOT/
+└── 00824-Dd4bFSTQ8gi/
+    ├── Dd4bFSTQ8gi.basis.glb
+    └── Dd4bFSTQ8gi.glb
+```
+
+Use the same directory pattern for the other eight scenes. See the [baseline manual](https://github.com/psiang/ReCoNav/blob/main/docs/baselines.md#habitat-navigation-resources) for the separate Habitat navmesh resource.
+
+## Terms
+
+HM3D/HM3DSem-derived data is subject to the upstream academic, non-commercial terms in [DATA_TERMS.md](DATA_TERMS.md). The code repository has an Apache-2.0 license; this dataset retains its data terms.

reconav-benchmark-v1.0.0.tar.gz

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