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rabbitKabbit
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GuidedScene

Modalities:
3D
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029897f
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current_works_v2: work_37_sizefix

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Files changed (14) hide show
  1. current_works_v2/work_37_sizefix/2050/guidance_losses.txt +370 -0
  2. current_works_v2/work_37_sizefix/2050/none_accuracy_analysis.txt +3 -0
  3. current_works_v2/work_37_sizefix/2050/physcene_collision_input.json +0 -0
  4. current_works_v2/work_37_sizefix/2050/physcene_collision_resolved.json +0 -0
  5. current_works_v2/work_37_sizefix/args.json +31 -0
  6. current_works_v2/work_37_sizefix/eval/pp_col.txt +17 -0
  7. current_works_v2/work_37_sizefix/eval/pp_ob.txt +5 -0
  8. current_works_v2/work_37_sizefix/eval/pp_rel.txt +17 -0
  9. current_works_v2/work_37_sizefix/eval/raw_col.txt +17 -0
  10. current_works_v2/work_37_sizefix/eval/raw_ob.txt +5 -0
  11. current_works_v2/work_37_sizefix/eval/raw_rel.txt +17 -0
  12. current_works_v2/work_37_sizefix/run.log +0 -0
  13. current_works_v2/work_37_sizefix/vis_2050.zip +3 -0
  14. current_works_v2/work_37_sizefix/work37_sizefix.yaml +130 -0
current_works_v2/work_37_sizefix/2050/guidance_losses.txt ADDED
@@ -0,0 +1,370 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Scene MasterBedroom-33296 - Final Step Collision Loss: 0.0262, Room Outer Loss: 0.2367, Walkable Loss: 2.6598 (Center Penalty: 0.4913, C1 Heatmap: 1.1611, C2 Repulsion: 6.1983), Relational Loss: 0.0319
2
+ Scene MasterBedroom-9404 - Final Step Collision Loss: 0.0260, Room Outer Loss: 0.0897, Walkable Loss: 2.5301 (Center Penalty: 0.3882, C1 Heatmap: 1.2949, C2 Repulsion: 5.5298), Relational Loss: 0.0758
3
+ Scene SecondBedroom-30034 - Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0000, Walkable Loss: 2.9775 (Center Penalty: 2.0840, C1 Heatmap: 0.7756, C2 Repulsion: 1.3652), Relational Loss: 0.0551
4
+ Scene SecondBedroom-6482 - Final Step Collision Loss: 0.0505, Room Outer Loss: 0.0000, Walkable Loss: 2.3927 (Center Penalty: 0.8452, C1 Heatmap: 0.8844, C2 Repulsion: 4.2003), Relational Loss: 0.0114
5
+ Scene SecondBedroom-11167 - Final Step Collision Loss: 0.0071, Room Outer Loss: 0.0000, Walkable Loss: 2.6849 (Center Penalty: 1.0208, C1 Heatmap: 0.7617, C2 Repulsion: 5.2735), Relational Loss: 0.0769
6
+ Scene MasterBedroom-27127 - Final Step Collision Loss: 0.0896, Room Outer Loss: 0.0000, Walkable Loss: 2.9732 (Center Penalty: 1.2794, C1 Heatmap: 0.9053, C2 Repulsion: 4.8476), Relational Loss: 0.0419
7
+ Scene MasterBedroom-75552 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0174 (Center Penalty: 1.1682, C1 Heatmap: 0.8135, C2 Repulsion: 0.9918), Relational Loss: 0.0341
8
+ Scene SecondBedroom-19119 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0238, Walkable Loss: 2.1768 (Center Penalty: 0.9451, C1 Heatmap: 0.8699, C2 Repulsion: 2.6789), Relational Loss: 0.0211
9
+ Scene Bedroom-2719 - Final Step Collision Loss: 0.0992, Room Outer Loss: 0.1142, Walkable Loss: 3.2994 (Center Penalty: 1.7351, C1 Heatmap: 0.9053, C2 Repulsion: 4.2004), Relational Loss: 0.0122
10
+ Scene Bedroom-430 - Final Step Collision Loss: 0.0204, Room Outer Loss: 0.0000, Walkable Loss: 3.7245 (Center Penalty: 2.8163, C1 Heatmap: 0.7283, C2 Repulsion: 1.6278), Relational Loss: 0.0000
11
+ Scene MasterBedroom-18415 - Final Step Collision Loss: 0.0208, Room Outer Loss: 0.0000, Walkable Loss: 1.9313 (Center Penalty: 0.3668, C1 Heatmap: 1.0077, C2 Repulsion: 3.7915), Relational Loss: 0.0571
12
+ Scene SecondBedroom-1145 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5738 (Center Penalty: 0.6688, C1 Heatmap: 0.6394, C2 Repulsion: 1.9674), Relational Loss: 0.0667
13
+ Scene SecondBedroom-2787 - Final Step Collision Loss: 0.0107, Room Outer Loss: 0.0000, Walkable Loss: 2.5390 (Center Penalty: 1.6888, C1 Heatmap: 0.5692, C2 Repulsion: 1.9742), Relational Loss: 0.0000
14
+ Scene Bedroom-87322 - Final Step Collision Loss: 0.0274, Room Outer Loss: 0.1916, Walkable Loss: 2.7728 (Center Penalty: 0.9954, C1 Heatmap: 0.8678, C2 Repulsion: 5.4156), Relational Loss: 0.0212
15
+ Scene Bedroom-68718 - Final Step Collision Loss: 0.0575, Room Outer Loss: 0.0370, Walkable Loss: 3.3153 (Center Penalty: 1.8783, C1 Heatmap: 1.0735, C2 Repulsion: 2.8911), Relational Loss: 0.0550
16
+ Scene SecondBedroom-35821 - Final Step Collision Loss: 0.0502, Room Outer Loss: 0.0463, Walkable Loss: 3.5846 (Center Penalty: 1.7543, C1 Heatmap: 1.0991, C2 Repulsion: 4.7546), Relational Loss: 0.0039
17
+ Scene Bedroom-18055 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0167, Walkable Loss: 2.4460 (Center Penalty: 1.3821, C1 Heatmap: 0.7537, C2 Repulsion: 2.3044), Relational Loss: 0.0352
18
+ Scene SecondBedroom-19262 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2272, Walkable Loss: 1.6984 (Center Penalty: 0.5648, C1 Heatmap: 0.9683, C2 Repulsion: 1.7947), Relational Loss: 0.0000
19
+ Scene Bedroom-12864 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.8643 (Center Penalty: 1.3841, C1 Heatmap: 0.8499, C2 Repulsion: 4.0014), Relational Loss: 0.0799
20
+ Scene SecondBedroom-266050 - Final Step Collision Loss: 0.0057, Room Outer Loss: 0.0235, Walkable Loss: 2.7333 (Center Penalty: 1.4279, C1 Heatmap: 0.9556, C2 Repulsion: 2.7042), Relational Loss: 0.0797
21
+ Scene MasterBedroom-12352 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0272, Walkable Loss: 2.5668 (Center Penalty: 1.6897, C1 Heatmap: 0.6350, C2 Repulsion: 1.8457), Relational Loss: 0.0770
22
+ Scene MasterBedroom-7894 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7377 (Center Penalty: 0.6455, C1 Heatmap: 0.9085, C2 Repulsion: 1.8272), Relational Loss: 0.0365
23
+ Scene MasterBedroom-118594 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.8600, Walkable Loss: 2.3030 (Center Penalty: 0.9245, C1 Heatmap: 1.2225, C2 Repulsion: 2.0030), Relational Loss: 0.0166
24
+ Scene MasterBedroom-6399 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0827 (Center Penalty: 0.8807, C1 Heatmap: 0.7178, C2 Repulsion: 3.1391), Relational Loss: 0.0307
25
+ Scene SecondBedroom-52584 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.5988 (Center Penalty: 1.9985, C1 Heatmap: 0.6051, C2 Repulsion: 0.5813), Relational Loss: 0.0903
26
+ Scene SecondBedroom-860 - Final Step Collision Loss: 0.0280, Room Outer Loss: 0.0962, Walkable Loss: 1.9940 (Center Penalty: 0.5623, C1 Heatmap: 0.9302, C2 Repulsion: 3.4374), Relational Loss: 0.0768
27
+ Scene MasterBedroom-514 - Final Step Collision Loss: 0.0027, Room Outer Loss: 0.0000, Walkable Loss: 1.0174 (Center Penalty: 0.3528, C1 Heatmap: 0.5808, C2 Repulsion: 1.0000), Relational Loss: 0.0634
28
+ Scene SecondBedroom-11204 - Final Step Collision Loss: 0.0252, Room Outer Loss: 0.0009, Walkable Loss: 2.7091 (Center Penalty: 1.2228, C1 Heatmap: 0.7732, C2 Repulsion: 4.3386), Relational Loss: 0.0089
29
+ Scene MasterBedroom-4089 - Final Step Collision Loss: 0.1882, Room Outer Loss: 0.2457, Walkable Loss: 2.2102 (Center Penalty: 0.7233, C1 Heatmap: 1.0865, C2 Repulsion: 3.0880), Relational Loss: 0.0899
30
+ Scene MasterBedroom-21684 - Final Step Collision Loss: 0.0634, Room Outer Loss: 0.1479, Walkable Loss: 2.3927 (Center Penalty: 0.4031, C1 Heatmap: 0.9497, C2 Repulsion: 6.1495), Relational Loss: 0.0598
31
+ Scene SecondBedroom-8497 - Final Step Collision Loss: 0.0313, Room Outer Loss: 0.0000, Walkable Loss: 2.7841 (Center Penalty: 1.8284, C1 Heatmap: 0.6966, C2 Repulsion: 1.9920), Relational Loss: 0.0000
32
+ Scene MasterBedroom-196 - Final Step Collision Loss: 0.1286, Room Outer Loss: 0.2462, Walkable Loss: 3.2437 (Center Penalty: 1.7278, C1 Heatmap: 1.0215, C2 Repulsion: 3.4934), Relational Loss: 0.0122
33
+ Scene MasterBedroom-132469 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9845 (Center Penalty: 1.3347, C1 Heatmap: 0.6506, C2 Repulsion: 0.6463), Relational Loss: 0.0000
34
+ Scene MasterBedroom-104323 - Final Step Collision Loss: 0.0495, Room Outer Loss: 0.0153, Walkable Loss: 2.3357 (Center Penalty: 1.6622, C1 Heatmap: 0.5919, C2 Repulsion: 1.0000), Relational Loss: 0.0483
35
+ Scene SecondBedroom-69556 - Final Step Collision Loss: 0.0391, Room Outer Loss: 0.0067, Walkable Loss: 2.0981 (Center Penalty: 0.6756, C1 Heatmap: 0.7198, C2 Repulsion: 4.2337), Relational Loss: 0.0036
36
+ Scene Bedroom-6993 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7497, Walkable Loss: 1.9685 (Center Penalty: 0.9565, C1 Heatmap: 1.0187, C2 Repulsion: 0.9854), Relational Loss: 0.0000
37
+ Scene MasterBedroom-935 - Final Step Collision Loss: 0.0785, Room Outer Loss: 0.5509, Walkable Loss: 3.1034 (Center Penalty: 0.5529, C1 Heatmap: 1.1796, C2 Repulsion: 8.0338), Relational Loss: 0.0281
38
+ Scene SecondBedroom-2311 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0130, Walkable Loss: 1.9951 (Center Penalty: 1.3424, C1 Heatmap: 0.6101, C2 Repulsion: 0.8229), Relational Loss: 0.0000
39
+ Scene SecondBedroom-69136 - Final Step Collision Loss: 0.0528, Room Outer Loss: 0.1371, Walkable Loss: 2.2096 (Center Penalty: 0.5247, C1 Heatmap: 0.9681, C2 Repulsion: 4.5521), Relational Loss: 0.0526
40
+ Scene Bedroom-47437 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1299 (Center Penalty: 1.3351, C1 Heatmap: 0.5824, C2 Repulsion: 1.6442), Relational Loss: 0.0000
41
+ Scene SecondBedroom-739 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9377 (Center Penalty: 1.0908, C1 Heatmap: 0.6841, C2 Repulsion: 1.4979), Relational Loss: 0.0964
42
+ Scene MasterBedroom-6351 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0113, Walkable Loss: 2.6355 (Center Penalty: 1.7908, C1 Heatmap: 0.5854, C2 Repulsion: 1.8821), Relational Loss: 0.0650
43
+ Scene SecondBedroom-22370 - Final Step Collision Loss: 0.0026, Room Outer Loss: 0.3012, Walkable Loss: 1.7708 (Center Penalty: 0.6694, C1 Heatmap: 0.7375, C2 Repulsion: 2.5566), Relational Loss: 0.0752
44
+ Scene SecondBedroom-15551 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4915 (Center Penalty: 1.4233, C1 Heatmap: 0.8660, C2 Repulsion: 1.8767), Relational Loss: 0.0533
45
+ Scene MasterBedroom-13100 - Final Step Collision Loss: 0.0119, Room Outer Loss: 0.0670, Walkable Loss: 2.6311 (Center Penalty: 0.8958, C1 Heatmap: 1.1245, C2 Repulsion: 4.1782), Relational Loss: 0.0558
46
+ Scene SecondBedroom-13841 - Final Step Collision Loss: 0.0916, Room Outer Loss: 0.1143, Walkable Loss: 1.6165 (Center Penalty: 0.4365, C1 Heatmap: 0.8677, C2 Repulsion: 2.4297), Relational Loss: 0.0911
47
+ Scene MasterBedroom-10364 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0006, Walkable Loss: 1.6288 (Center Penalty: 0.5844, C1 Heatmap: 0.7921, C2 Repulsion: 2.0539), Relational Loss: 0.0558
48
+ Scene Bedroom-18 - Final Step Collision Loss: 0.0007, Room Outer Loss: 0.0000, Walkable Loss: 1.9886 (Center Penalty: 1.0346, C1 Heatmap: 0.7678, C2 Repulsion: 1.6990), Relational Loss: 0.0000
49
+ Scene SecondBedroom-11303 - Final Step Collision Loss: 0.0308, Room Outer Loss: 0.2164, Walkable Loss: 3.0157 (Center Penalty: 1.0137, C1 Heatmap: 0.8787, C2 Repulsion: 6.4950), Relational Loss: 0.1281
50
+ Scene MasterBedroom-1362 - Final Step Collision Loss: 0.0008, Room Outer Loss: 0.0000, Walkable Loss: 2.3976 (Center Penalty: 0.8540, C1 Heatmap: 0.7969, C2 Repulsion: 4.5304), Relational Loss: 0.0342
51
+ Scene SecondBedroom-34317 - Final Step Collision Loss: 0.0074, Room Outer Loss: 0.3634, Walkable Loss: 1.7248 (Center Penalty: 0.5883, C1 Heatmap: 0.7975, C2 Repulsion: 2.4926), Relational Loss: 0.0010
52
+ Scene Bedroom-4098 - Final Step Collision Loss: 0.0065, Room Outer Loss: 0.0581, Walkable Loss: 2.5096 (Center Penalty: 1.2457, C1 Heatmap: 0.7924, C2 Repulsion: 3.1494), Relational Loss: 0.0508
53
+ Scene Bedroom-5265 - Final Step Collision Loss: 0.0097, Room Outer Loss: 0.0000, Walkable Loss: 2.9707 (Center Penalty: 0.8790, C1 Heatmap: 1.0628, C2 Repulsion: 6.2077), Relational Loss: 0.0422
54
+ Scene MasterBedroom-22121 - Final Step Collision Loss: 0.0061, Room Outer Loss: 0.0305, Walkable Loss: 3.2181 (Center Penalty: 1.5494, C1 Heatmap: 1.0062, C2 Repulsion: 4.3186), Relational Loss: 0.0457
55
+ Scene Bedroom-47481 - Final Step Collision Loss: 0.0099, Room Outer Loss: 0.0376, Walkable Loss: 2.7269 (Center Penalty: 1.5852, C1 Heatmap: 0.8056, C2 Repulsion: 2.4860), Relational Loss: 0.0517
56
+ Scene Bedroom-2160 - Final Step Collision Loss: 0.0251, Room Outer Loss: 0.0718, Walkable Loss: 3.0952 (Center Penalty: 2.0400, C1 Heatmap: 0.8410, C2 Repulsion: 1.9118), Relational Loss: 0.0431
57
+ Scene SecondBedroom-9825 - Final Step Collision Loss: 0.0530, Room Outer Loss: 0.0000, Walkable Loss: 2.6092 (Center Penalty: 1.2243, C1 Heatmap: 0.8134, C2 Repulsion: 3.6709), Relational Loss: 0.0058
58
+ Scene Bedroom-1989 - Final Step Collision Loss: 0.0574, Room Outer Loss: 0.7195, Walkable Loss: 3.4641 (Center Penalty: 1.6001, C1 Heatmap: 1.1629, C2 Repulsion: 4.6686), Relational Loss: 0.0191
59
+ Scene SecondBedroom-143 - Final Step Collision Loss: 0.0328, Room Outer Loss: 0.0325, Walkable Loss: 3.0462 (Center Penalty: 0.9967, C1 Heatmap: 1.0885, C2 Repulsion: 5.8934), Relational Loss: 0.0591
60
+ Scene SecondBedroom-13044 - Final Step Collision Loss: 0.0069, Room Outer Loss: 0.0000, Walkable Loss: 2.6257 (Center Penalty: 1.6630, C1 Heatmap: 0.7451, C2 Repulsion: 1.8328), Relational Loss: 0.0570
61
+ Scene Bedroom-8490 - Final Step Collision Loss: 0.0060, Room Outer Loss: 0.1613, Walkable Loss: 2.9045 (Center Penalty: 1.3234, C1 Heatmap: 0.9997, C2 Repulsion: 3.9068), Relational Loss: 0.0132
62
+ Scene MasterBedroom-424 - Final Step Collision Loss: 0.0018, Room Outer Loss: 0.0603, Walkable Loss: 1.9516 (Center Penalty: 0.7690, C1 Heatmap: 0.8005, C2 Repulsion: 2.7111), Relational Loss: 0.0500
63
+ Scene SecondBedroom-32238 - Final Step Collision Loss: 0.0279, Room Outer Loss: 0.0000, Walkable Loss: 2.0493 (Center Penalty: 0.7324, C1 Heatmap: 0.6556, C2 Repulsion: 3.9620), Relational Loss: 0.0729
64
+ Scene SecondBedroom-258160 - Final Step Collision Loss: 0.0716, Room Outer Loss: 0.0317, Walkable Loss: 3.4689 (Center Penalty: 1.6248, C1 Heatmap: 1.0429, C2 Repulsion: 5.0486), Relational Loss: 0.0461
65
+ Scene SecondBedroom-19232 - Final Step Collision Loss: 0.0250, Room Outer Loss: 0.0000, Walkable Loss: 1.4535 (Center Penalty: 0.5994, C1 Heatmap: 0.5917, C2 Repulsion: 1.9042), Relational Loss: 0.0287
66
+ Scene SecondBedroom-6685 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1054, Walkable Loss: 1.1027 (Center Penalty: 0.4133, C1 Heatmap: 0.6541, C2 Repulsion: 0.8307), Relational Loss: 0.0000
67
+ Scene SecondBedroom-24334 - Final Step Collision Loss: 0.1823, Room Outer Loss: 0.0073, Walkable Loss: 2.7412 (Center Penalty: 0.8464, C1 Heatmap: 1.2519, C2 Repulsion: 4.4667), Relational Loss: 0.1019
68
+ Scene Bedroom-35352 - Final Step Collision Loss: 0.0058, Room Outer Loss: 0.0000, Walkable Loss: 2.0130 (Center Penalty: 0.8687, C1 Heatmap: 0.7048, C2 Repulsion: 2.9019), Relational Loss: 0.0381
69
+ Scene MasterBedroom-4284 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9369 (Center Penalty: 0.3526, C1 Heatmap: 0.5737, C2 Repulsion: 0.6272), Relational Loss: 0.0008
70
+ Scene MasterBedroom-1069 - Final Step Collision Loss: 0.0037, Room Outer Loss: 0.0744, Walkable Loss: 2.1392 (Center Penalty: 0.8461, C1 Heatmap: 0.6556, C2 Repulsion: 3.8430), Relational Loss: 0.0448
71
+ Scene MasterBedroom-113 - Final Step Collision Loss: 0.0365, Room Outer Loss: 0.0146, Walkable Loss: 1.8778 (Center Penalty: 0.6122, C1 Heatmap: 0.8937, C2 Repulsion: 2.7532), Relational Loss: 0.0935
72
+ Scene SecondBedroom-48968 - Final Step Collision Loss: 0.0103, Room Outer Loss: 0.1859, Walkable Loss: 1.6812 (Center Penalty: 0.7991, C1 Heatmap: 0.6505, C2 Repulsion: 1.8086), Relational Loss: 0.0839
73
+ Scene MasterBedroom-9222 - Final Step Collision Loss: 0.0033, Room Outer Loss: 0.2485, Walkable Loss: 2.5384 (Center Penalty: 0.6474, C1 Heatmap: 1.0417, C2 Repulsion: 5.2879), Relational Loss: 0.0333
74
+ Scene Bedroom-32051 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6454 (Center Penalty: 0.4563, C1 Heatmap: 0.7830, C2 Repulsion: 2.8133), Relational Loss: 0.0091
75
+ Scene MasterBedroom-86835 - Final Step Collision Loss: 0.0118, Room Outer Loss: 0.1940, Walkable Loss: 1.9599 (Center Penalty: 0.2605, C1 Heatmap: 0.9586, C2 Repulsion: 4.6627), Relational Loss: 0.0567
76
+ Scene SecondBedroom-86888 - Final Step Collision Loss: 0.0467, Room Outer Loss: 0.0203, Walkable Loss: 2.5619 (Center Penalty: 1.4691, C1 Heatmap: 0.7830, C2 Repulsion: 2.3320), Relational Loss: 0.0610
77
+ Scene MasterBedroom-9583 - Final Step Collision Loss: 0.0438, Room Outer Loss: 0.0380, Walkable Loss: 4.2624 (Center Penalty: 1.5540, C1 Heatmap: 1.4296, C2 Repulsion: 7.8239), Relational Loss: 0.0346
78
+ Scene SecondBedroom-8823 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0106, Walkable Loss: 2.3731 (Center Penalty: 1.7026, C1 Heatmap: 0.6398, C2 Repulsion: 0.7936), Relational Loss: 0.0000
79
+ Scene SecondBedroom-13218 - Final Step Collision Loss: 0.0511, Room Outer Loss: 0.4298, Walkable Loss: 3.5554 (Center Penalty: 1.7892, C1 Heatmap: 1.1498, C2 Repulsion: 4.2318), Relational Loss: 0.0934
80
+ Scene SecondBedroom-36408 - Final Step Collision Loss: 0.0143, Room Outer Loss: 0.0771, Walkable Loss: 2.9762 (Center Penalty: 0.5864, C1 Heatmap: 1.1485, C2 Repulsion: 7.3555), Relational Loss: 0.0376
81
+ Scene MasterBedroom-36389 - Final Step Collision Loss: 0.2020, Room Outer Loss: 0.3641, Walkable Loss: 2.8171 (Center Penalty: 0.7775, C1 Heatmap: 1.2337, C2 Repulsion: 5.2635), Relational Loss: 0.0223
82
+ Scene SecondBedroom-7635 - Final Step Collision Loss: 0.0820, Room Outer Loss: 0.3524, Walkable Loss: 2.0691 (Center Penalty: 0.6360, C1 Heatmap: 0.9077, C2 Repulsion: 3.5344), Relational Loss: 0.0000
83
+ Scene Bedroom-1541 - Final Step Collision Loss: 0.0278, Room Outer Loss: 0.0424, Walkable Loss: 3.4362 (Center Penalty: 2.1430, C1 Heatmap: 0.8680, C2 Repulsion: 2.9937), Relational Loss: 0.0569
84
+ Scene Bedroom-11202 - Final Step Collision Loss: 0.0118, Room Outer Loss: 0.0720, Walkable Loss: 2.9573 (Center Penalty: 1.8350, C1 Heatmap: 0.8991, C2 Repulsion: 2.0153), Relational Loss: 0.0366
85
+ Scene Bedroom-26487 - Final Step Collision Loss: 0.0203, Room Outer Loss: 0.1500, Walkable Loss: 4.5234 (Center Penalty: 1.0355, C1 Heatmap: 1.1792, C2 Repulsion: 12.7224), Relational Loss: 0.0419
86
+ Scene Bedroom-691 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4005, Walkable Loss: 2.0556 (Center Penalty: 1.2056, C1 Heatmap: 0.8126, C2 Repulsion: 0.9999), Relational Loss: 0.0855
87
+ Scene SecondBedroom-14817 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0474, Walkable Loss: 2.6714 (Center Penalty: 1.4948, C1 Heatmap: 0.7579, C2 Repulsion: 2.8516), Relational Loss: 0.0769
88
+ Scene MasterBedroom-30192 - Final Step Collision Loss: 0.0110, Room Outer Loss: 0.2340, Walkable Loss: 3.0413 (Center Penalty: 0.9243, C1 Heatmap: 1.0067, C2 Repulsion: 6.5584), Relational Loss: 0.0332
89
+ Scene Bedroom-41491 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0235, Walkable Loss: 1.6261 (Center Penalty: 0.6799, C1 Heatmap: 0.6280, C2 Repulsion: 2.2188), Relational Loss: 0.0000
90
+ Scene MasterBedroom-49865 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1027, Walkable Loss: 2.0182 (Center Penalty: 0.8985, C1 Heatmap: 0.7772, C2 Repulsion: 2.4893), Relational Loss: 0.0525
91
+ Scene MasterBedroom-16450 - Final Step Collision Loss: 0.0081, Room Outer Loss: 0.0997, Walkable Loss: 1.3742 (Center Penalty: 0.4377, C1 Heatmap: 0.6227, C2 Repulsion: 2.1916), Relational Loss: 0.0000
92
+ Scene SecondBedroom-14328 - Final Step Collision Loss: 0.0474, Room Outer Loss: 0.8787, Walkable Loss: 4.0503 (Center Penalty: 1.7750, C1 Heatmap: 1.4015, C2 Repulsion: 5.7701), Relational Loss: 0.0732
93
+ Scene SecondBedroom-39108 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3673, Walkable Loss: 1.3368 (Center Penalty: 0.4918, C1 Heatmap: 0.7445, C2 Repulsion: 1.2470), Relational Loss: 0.0190
94
+ Scene MasterBedroom-19531 - Final Step Collision Loss: 0.0025, Room Outer Loss: 0.1151, Walkable Loss: 3.1123 (Center Penalty: 1.6344, C1 Heatmap: 1.0088, C2 Repulsion: 3.3544), Relational Loss: 0.0994
95
+ Scene Bedroom-74 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0013, Walkable Loss: 2.5425 (Center Penalty: 1.7906, C1 Heatmap: 0.6900, C2 Repulsion: 0.9992), Relational Loss: 0.0002
96
+ Scene Bedroom-15856 - Final Step Collision Loss: 0.0200, Room Outer Loss: 0.0663, Walkable Loss: 2.6028 (Center Penalty: 0.9927, C1 Heatmap: 0.9659, C2 Repulsion: 4.1864), Relational Loss: 0.0360
97
+ Scene MasterBedroom-3845 - Final Step Collision Loss: 0.0038, Room Outer Loss: 0.2214, Walkable Loss: 1.9257 (Center Penalty: 0.5401, C1 Heatmap: 0.9124, C2 Repulsion: 3.2784), Relational Loss: 0.0459
98
+ Scene MasterBedroom-14075 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0267, Walkable Loss: 1.8570 (Center Penalty: 0.6600, C1 Heatmap: 0.8791, C2 Repulsion: 2.4685), Relational Loss: 0.0000
99
+ Scene Bedroom-22495 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0055, Walkable Loss: 1.2989 (Center Penalty: 0.6808, C1 Heatmap: 0.6728, C2 Repulsion: 0.3992), Relational Loss: 0.0000
100
+ Scene MasterBedroom-22581 - Final Step Collision Loss: 0.0442, Room Outer Loss: 0.0000, Walkable Loss: 2.9567 (Center Penalty: 0.9693, C1 Heatmap: 1.1268, C2 Repulsion: 5.4298), Relational Loss: 0.0099
101
+ Scene Bedroom-54381 - Final Step Collision Loss: 0.0053, Room Outer Loss: 0.0000, Walkable Loss: 1.6632 (Center Penalty: 0.7019, C1 Heatmap: 0.7594, C2 Repulsion: 1.7688), Relational Loss: 0.0000
102
+ Scene Bedroom-5215 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0884, Walkable Loss: 2.2600 (Center Penalty: 0.7540, C1 Heatmap: 0.9046, C2 Repulsion: 3.9118), Relational Loss: 0.0243
103
+ Scene MasterBedroom-12479 - Final Step Collision Loss: 0.0222, Room Outer Loss: 0.1560, Walkable Loss: 2.4946 (Center Penalty: 1.0742, C1 Heatmap: 0.8605, C2 Repulsion: 3.6602), Relational Loss: 0.0311
104
+ Scene SecondBedroom-37794 - Final Step Collision Loss: 0.0083, Room Outer Loss: 0.0781, Walkable Loss: 1.5125 (Center Penalty: 0.3670, C1 Heatmap: 0.7492, C2 Repulsion: 2.7307), Relational Loss: 0.0701
105
+ Scene SecondBedroom-69017 - Final Step Collision Loss: 0.2292, Room Outer Loss: 0.0000, Walkable Loss: 2.3932 (Center Penalty: 0.6682, C1 Heatmap: 0.9102, C2 Repulsion: 4.9839), Relational Loss: 0.0438
106
+ Scene MasterBedroom-1615 - Final Step Collision Loss: 0.0481, Room Outer Loss: 0.0000, Walkable Loss: 2.2664 (Center Penalty: 0.5057, C1 Heatmap: 0.9507, C2 Repulsion: 5.0005), Relational Loss: 0.0582
107
+ Scene MasterBedroom-8979 - Final Step Collision Loss: 0.0464, Room Outer Loss: 0.0607, Walkable Loss: 2.4453 (Center Penalty: 0.9612, C1 Heatmap: 0.8842, C2 Repulsion: 3.8838), Relational Loss: 0.0824
108
+ Scene MasterBedroom-6631 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0053, Walkable Loss: 2.7181 (Center Penalty: 1.2900, C1 Heatmap: 0.9047, C2 Repulsion: 3.5217), Relational Loss: 0.0281
109
+ Scene MasterBedroom-58086 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0684, Walkable Loss: 2.8016 (Center Penalty: 1.6156, C1 Heatmap: 0.9950, C2 Repulsion: 1.9500), Relational Loss: 0.0530
110
+ Scene MasterBedroom-34041 - Final Step Collision Loss: 0.0189, Room Outer Loss: 0.0904, Walkable Loss: 3.0154 (Center Penalty: 1.5477, C1 Heatmap: 1.0689, C2 Repulsion: 3.0631), Relational Loss: 0.0695
111
+ Scene MasterBedroom-63654 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4996 (Center Penalty: 0.6302, C1 Heatmap: 0.6548, C2 Repulsion: 1.7276), Relational Loss: 0.0697
112
+ Scene Bedroom-21085 - Final Step Collision Loss: 0.0317, Room Outer Loss: 0.1916, Walkable Loss: 2.1900 (Center Penalty: 0.8968, C1 Heatmap: 0.7643, C2 Repulsion: 3.4087), Relational Loss: 0.0602
113
+ Scene Bedroom-13675 - Final Step Collision Loss: 0.0289, Room Outer Loss: 0.0000, Walkable Loss: 1.3229 (Center Penalty: 0.4796, C1 Heatmap: 0.8041, C2 Repulsion: 1.0000), Relational Loss: 0.2449
114
+ Scene MasterBedroom-32488 - Final Step Collision Loss: 0.0261, Room Outer Loss: 0.0344, Walkable Loss: 2.6184 (Center Penalty: 0.5215, C1 Heatmap: 1.0985, C2 Repulsion: 6.0907), Relational Loss: 0.0334
115
+ Scene MasterBedroom-45545 - Final Step Collision Loss: 0.0717, Room Outer Loss: 0.3317, Walkable Loss: 2.6935 (Center Penalty: 0.2338, C1 Heatmap: 1.1392, C2 Repulsion: 7.7420), Relational Loss: 0.0477
116
+ Scene Bedroom-18759 - Final Step Collision Loss: 0.0530, Room Outer Loss: 0.3156, Walkable Loss: 2.5489 (Center Penalty: 0.8119, C1 Heatmap: 1.0605, C2 Repulsion: 4.4429), Relational Loss: 0.0387
117
+ Scene MasterBedroom-29436 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6756 (Center Penalty: 0.3444, C1 Heatmap: 0.8900, C2 Repulsion: 3.0962), Relational Loss: 0.0030
118
+ Scene Bedroom-15797 - Final Step Collision Loss: 0.0264, Room Outer Loss: 0.3724, Walkable Loss: 2.1674 (Center Penalty: 0.7755, C1 Heatmap: 0.8247, C2 Repulsion: 3.6607), Relational Loss: 0.0001
119
+ Scene MasterBedroom-13658 - Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0000, Walkable Loss: 2.6609 (Center Penalty: 1.3975, C1 Heatmap: 0.8971, C2 Repulsion: 2.7283), Relational Loss: 0.0502
120
+ Scene Bedroom-53437 - Final Step Collision Loss: 0.0085, Room Outer Loss: 0.2289, Walkable Loss: 1.9941 (Center Penalty: 0.8417, C1 Heatmap: 0.7129, C2 Repulsion: 2.9103), Relational Loss: 0.0792
121
+ Scene MasterBedroom-1096 - Final Step Collision Loss: 0.0188, Room Outer Loss: 0.4120, Walkable Loss: 2.9780 (Center Penalty: 1.2162, C1 Heatmap: 0.9070, C2 Repulsion: 5.1810), Relational Loss: 0.0218
122
+ Scene Bedroom-20397 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.5969 (Center Penalty: 0.7151, C1 Heatmap: 1.1064, C2 Repulsion: 9.9837), Relational Loss: 0.0623
123
+ Scene SecondBedroom-6261 - Final Step Collision Loss: 0.0630, Room Outer Loss: 0.0000, Walkable Loss: 1.8143 (Center Penalty: 0.6036, C1 Heatmap: 0.9602, C2 Repulsion: 2.2131), Relational Loss: 0.0966
124
+ Scene SecondBedroom-9923 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0052, Walkable Loss: 1.3373 (Center Penalty: 0.2065, C1 Heatmap: 0.8584, C2 Repulsion: 2.2201), Relational Loss: 0.0000
125
+ Scene Bedroom-38427 - Final Step Collision Loss: 0.0155, Room Outer Loss: 0.0000, Walkable Loss: 1.7618 (Center Penalty: 0.6324, C1 Heatmap: 0.6908, C2 Repulsion: 2.8836), Relational Loss: 0.0420
126
+ Scene SecondBedroom-48379 - Final Step Collision Loss: 0.0303, Room Outer Loss: 0.1379, Walkable Loss: 2.9176 (Center Penalty: 1.8821, C1 Heatmap: 0.7971, C2 Repulsion: 1.9889), Relational Loss: 0.0000
127
+ Scene Bedroom-74674 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0380, Walkable Loss: 2.0920 (Center Penalty: 1.5013, C1 Heatmap: 0.5308, C2 Repulsion: 0.8302), Relational Loss: 0.0667
128
+ Scene MasterBedroom-41843 - Final Step Collision Loss: 0.0386, Room Outer Loss: 0.0146, Walkable Loss: 2.5290 (Center Penalty: 0.4227, C1 Heatmap: 0.9243, C2 Repulsion: 6.8344), Relational Loss: 0.0226
129
+ Scene MasterBedroom-21047 - Final Step Collision Loss: 0.0019, Room Outer Loss: 0.0000, Walkable Loss: 1.9356 (Center Penalty: 0.7043, C1 Heatmap: 0.7187, C2 Repulsion: 3.2819), Relational Loss: 0.0817
130
+ Scene MasterBedroom-34469 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3180 (Center Penalty: 0.4019, C1 Heatmap: 0.7907, C2 Repulsion: 1.4178), Relational Loss: 0.0118
131
+ Scene SecondBedroom-35274 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8894 (Center Penalty: 1.2942, C1 Heatmap: 0.6812, C2 Repulsion: 0.2514), Relational Loss: 0.0000
132
+ Scene SecondBedroom-66007 - Final Step Collision Loss: 0.0285, Room Outer Loss: 0.0578, Walkable Loss: 3.9511 (Center Penalty: 2.2694, C1 Heatmap: 0.8979, C2 Repulsion: 4.8164), Relational Loss: 0.0393
133
+ Scene MasterBedroom-6907 - Final Step Collision Loss: 0.0035, Room Outer Loss: 0.1465, Walkable Loss: 2.3478 (Center Penalty: 0.2319, C1 Heatmap: 0.8982, C2 Repulsion: 6.9867), Relational Loss: 0.0408
134
+ Scene MasterBedroom-9302 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0834, Walkable Loss: 1.3185 (Center Penalty: 0.1853, C1 Heatmap: 0.7536, C2 Repulsion: 2.6517), Relational Loss: 0.0459
135
+ Scene MasterBedroom-3151 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5074 (Center Penalty: 0.8625, C1 Heatmap: 0.6029, C2 Repulsion: 0.8129), Relational Loss: 0.0708
136
+ Scene SecondBedroom-13281 - Final Step Collision Loss: 0.0055, Room Outer Loss: 0.0486, Walkable Loss: 2.7325 (Center Penalty: 1.5296, C1 Heatmap: 0.9104, C2 Repulsion: 2.3731), Relational Loss: 0.0494
137
+ Scene MasterBedroom-74105 - Final Step Collision Loss: 0.0085, Room Outer Loss: 0.0322, Walkable Loss: 3.4487 (Center Penalty: 1.7449, C1 Heatmap: 0.9243, C2 Repulsion: 4.8220), Relational Loss: 0.0334
138
+ Scene Bedroom-837 - Final Step Collision Loss: 0.0200, Room Outer Loss: 0.2215, Walkable Loss: 2.9430 (Center Penalty: 1.7513, C1 Heatmap: 0.9548, C2 Repulsion: 2.1393), Relational Loss: 0.0246
139
+ Scene SecondBedroom-24075 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0161, Walkable Loss: 2.9230 (Center Penalty: 2.1299, C1 Heatmap: 0.6223, C2 Repulsion: 1.4763), Relational Loss: 0.0000
140
+ Scene Bedroom-22570 - Final Step Collision Loss: 0.0024, Room Outer Loss: 0.3860, Walkable Loss: 1.7853 (Center Penalty: 0.4568, C1 Heatmap: 0.9531, C2 Repulsion: 2.8303), Relational Loss: 0.0226
141
+ Scene MasterBedroom-40255 - Final Step Collision Loss: 0.0035, Room Outer Loss: 0.0000, Walkable Loss: 2.5399 (Center Penalty: 1.0442, C1 Heatmap: 0.8360, C2 Repulsion: 4.1346), Relational Loss: 0.0298
142
+ Scene SecondBedroom-9594 - Final Step Collision Loss: 0.0962, Room Outer Loss: 0.4662, Walkable Loss: 2.9774 (Center Penalty: 0.8358, C1 Heatmap: 1.1461, C2 Repulsion: 6.1236), Relational Loss: 0.0000
143
+ Scene MasterBedroom-18517 - Final Step Collision Loss: 0.0120, Room Outer Loss: 0.0000, Walkable Loss: 2.6224 (Center Penalty: 0.6943, C1 Heatmap: 0.9099, C2 Repulsion: 6.0010), Relational Loss: 0.0250
144
+ Scene MasterBedroom-116808 - Final Step Collision Loss: 0.0456, Room Outer Loss: 0.0754, Walkable Loss: 1.8460 (Center Penalty: 0.7985, C1 Heatmap: 0.8021, C2 Repulsion: 2.0290), Relational Loss: 0.0022
145
+ Scene MasterBedroom-34912 - Final Step Collision Loss: 0.0084, Room Outer Loss: 0.1417, Walkable Loss: 2.8279 (Center Penalty: 0.7351, C1 Heatmap: 1.0970, C2 Repulsion: 6.0761), Relational Loss: 0.0395
146
+ Scene SecondBedroom-3960 - Final Step Collision Loss: 0.0165, Room Outer Loss: 0.0000, Walkable Loss: 2.7592 (Center Penalty: 1.6399, C1 Heatmap: 0.8780, C2 Repulsion: 2.0844), Relational Loss: 0.1158
147
+ Scene MasterBedroom-17206 - Final Step Collision Loss: 0.0302, Room Outer Loss: 0.2793, Walkable Loss: 3.3506 (Center Penalty: 0.6398, C1 Heatmap: 1.1872, C2 Repulsion: 8.8056), Relational Loss: 0.0297
148
+ Scene MasterBedroom-109561 - Final Step Collision Loss: 0.0046, Room Outer Loss: 0.1361, Walkable Loss: 2.6400 (Center Penalty: 0.9978, C1 Heatmap: 1.0149, C2 Repulsion: 4.1514), Relational Loss: 0.0367
149
+ Scene SecondBedroom-30334 - Final Step Collision Loss: 0.1480, Room Outer Loss: 0.0380, Walkable Loss: 3.6958 (Center Penalty: 1.3674, C1 Heatmap: 1.1200, C2 Repulsion: 7.1619), Relational Loss: 0.0340
150
+ Scene Bedroom-54233 - Final Step Collision Loss: 0.0053, Room Outer Loss: 0.0054, Walkable Loss: 2.1862 (Center Penalty: 0.7559, C1 Heatmap: 0.7026, C2 Repulsion: 4.3409), Relational Loss: 0.0095
151
+ Scene Bedroom-17102 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6012 (Center Penalty: 1.6595, C1 Heatmap: 0.7681, C2 Repulsion: 1.6366), Relational Loss: 0.0361
152
+ Scene MasterBedroom-40319 - Final Step Collision Loss: 0.0214, Room Outer Loss: 0.2925, Walkable Loss: 1.9705 (Center Penalty: 0.5374, C1 Heatmap: 0.6357, C2 Repulsion: 4.6227), Relational Loss: 0.0324
153
+ Scene MasterBedroom-28978 - Final Step Collision Loss: 0.0172, Room Outer Loss: 0.1315, Walkable Loss: 4.2074 (Center Penalty: 1.9749, C1 Heatmap: 1.2200, C2 Repulsion: 6.2823), Relational Loss: 0.0133
154
+ Scene MasterBedroom-392 - Final Step Collision Loss: 0.0201, Room Outer Loss: 0.1119, Walkable Loss: 2.9186 (Center Penalty: 0.7156, C1 Heatmap: 1.0393, C2 Repulsion: 6.8578), Relational Loss: 0.0245
155
+ Scene MasterBedroom-3712 - Final Step Collision Loss: 0.0244, Room Outer Loss: 0.0599, Walkable Loss: 2.7175 (Center Penalty: 1.6302, C1 Heatmap: 0.7698, C2 Repulsion: 2.3571), Relational Loss: 0.0534
156
+ Scene MasterBedroom-1446 - Final Step Collision Loss: 0.0001, Room Outer Loss: 0.0000, Walkable Loss: 1.3714 (Center Penalty: 0.1334, C1 Heatmap: 0.8015, C2 Repulsion: 2.9834), Relational Loss: 0.0126
157
+ Scene SecondBedroom-6847 - Final Step Collision Loss: 0.0240, Room Outer Loss: 0.2019, Walkable Loss: 3.6503 (Center Penalty: 1.6576, C1 Heatmap: 0.9286, C2 Repulsion: 6.2491), Relational Loss: 0.0400
158
+ Scene MasterBedroom-12183 - Final Step Collision Loss: 0.0055, Room Outer Loss: 0.0172, Walkable Loss: 1.9506 (Center Penalty: 0.5831, C1 Heatmap: 0.8329, C2 Repulsion: 3.5059), Relational Loss: 0.0366
159
+ Scene Bedroom-8136 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1341 (Center Penalty: 1.3331, C1 Heatmap: 0.8476, C2 Repulsion: 0.6150), Relational Loss: 0.0000
160
+ Scene MasterBedroom-24714 - Final Step Collision Loss: 0.0704, Room Outer Loss: 0.0436, Walkable Loss: 2.4152 (Center Penalty: 0.9790, C1 Heatmap: 1.0123, C2 Repulsion: 3.1319), Relational Loss: 0.0708
161
+ Scene Bedroom-13858 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0410, Walkable Loss: 1.5164 (Center Penalty: 0.3732, C1 Heatmap: 0.8070, C2 Repulsion: 2.4881), Relational Loss: 0.1084
162
+ Scene MasterBedroom-118 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6444 (Center Penalty: 0.9420, C1 Heatmap: 0.6319, C2 Repulsion: 0.9842), Relational Loss: 0.0642
163
+ Scene LivingRoom-37659 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0389, Walkable Loss: 1.4006 (Center Penalty: 0.2305, C1 Heatmap: 0.6717, C2 Repulsion: 3.1639), Relational Loss: 0.0023
164
+ Scene LivingRoom-1520 - Final Step Collision Loss: 0.0309, Room Outer Loss: 0.0000, Walkable Loss: 3.0320 (Center Penalty: 0.1873, C1 Heatmap: 1.0912, C2 Repulsion: 9.8591), Relational Loss: 0.0377
165
+ Scene LivingRoom-17951 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0431, Walkable Loss: 3.4379 (Center Penalty: 2.4838, C1 Heatmap: 0.6113, C2 Repulsion: 2.3256), Relational Loss: 0.0000
166
+ Scene LivingDiningRoom-629 - Final Step Collision Loss: 0.0256, Room Outer Loss: 0.1233, Walkable Loss: 5.7665 (Center Penalty: 0.2507, C1 Heatmap: 1.6696, C2 Repulsion: 20.9008), Relational Loss: 0.0193
167
+ Scene LivingRoom-71071 - Final Step Collision Loss: 0.0084, Room Outer Loss: 0.0974, Walkable Loss: 2.0439 (Center Penalty: 0.1830, C1 Heatmap: 0.9640, C2 Repulsion: 5.4485), Relational Loss: 0.0224
168
+ Scene LivingDiningRoom-9790 - Final Step Collision Loss: 0.0053, Room Outer Loss: 0.1006, Walkable Loss: 1.8559 (Center Penalty: 0.3257, C1 Heatmap: 0.8027, C2 Repulsion: 4.4402), Relational Loss: 0.0120
169
+ Scene LivingRoom-791 - Final Step Collision Loss: 0.0126, Room Outer Loss: 0.1351, Walkable Loss: 2.8518 (Center Penalty: 0.4096, C1 Heatmap: 1.1135, C2 Repulsion: 7.7569), Relational Loss: 0.0174
170
+ Scene LivingRoom-24046 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3828 (Center Penalty: 0.5129, C1 Heatmap: 0.6496, C2 Repulsion: 1.7511), Relational Loss: 0.0000
171
+ Scene LivingRoom-13599 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0496 (Center Penalty: 0.4993, C1 Heatmap: 0.8029, C2 Repulsion: 4.5401), Relational Loss: 0.0533
172
+ Scene LivingDiningRoom-13945 - Final Step Collision Loss: 0.0167, Room Outer Loss: 0.3114, Walkable Loss: 2.4558 (Center Penalty: 0.4316, C1 Heatmap: 1.0795, C2 Repulsion: 5.8029), Relational Loss: 0.0233
173
+ Scene LivingDiningRoom-758 - Final Step Collision Loss: 0.0440, Room Outer Loss: 0.3603, Walkable Loss: 3.7399 (Center Penalty: 0.6567, C1 Heatmap: 1.3040, C2 Repulsion: 10.1998), Relational Loss: 0.0687
174
+ Scene LivingRoom-33324 - Final Step Collision Loss: 0.0211, Room Outer Loss: 0.1147, Walkable Loss: 2.2553 (Center Penalty: 0.8889, C1 Heatmap: 0.7164, C2 Repulsion: 3.9663), Relational Loss: 0.0168
175
+ Scene LivingRoom-30147 - Final Step Collision Loss: 0.0159, Room Outer Loss: 0.0871, Walkable Loss: 3.2613 (Center Penalty: 0.2540, C1 Heatmap: 0.8257, C2 Repulsion: 11.7340), Relational Loss: 0.0123
176
+ Scene LivingRoom-29294 - Final Step Collision Loss: 0.0021, Room Outer Loss: 0.0380, Walkable Loss: 2.4282 (Center Penalty: 0.5465, C1 Heatmap: 0.9763, C2 Repulsion: 5.5034), Relational Loss: 0.0239
177
+ Scene LivingDiningRoom-35401 - Final Step Collision Loss: 0.0436, Room Outer Loss: 0.0000, Walkable Loss: 1.6998 (Center Penalty: 0.3054, C1 Heatmap: 0.7775, C2 Repulsion: 3.8616), Relational Loss: 0.0089
178
+ Scene LivingRoom-35085 - Final Step Collision Loss: 0.0018, Room Outer Loss: 0.0449, Walkable Loss: 2.9023 (Center Penalty: 0.6712, C1 Heatmap: 1.0709, C2 Repulsion: 6.8723), Relational Loss: 0.0273
179
+ Scene LivingRoom-25582 - Final Step Collision Loss: 0.0378, Room Outer Loss: 0.1182, Walkable Loss: 2.8178 (Center Penalty: 0.4232, C1 Heatmap: 1.0375, C2 Repulsion: 7.8228), Relational Loss: 0.0399
180
+ Scene LivingDiningRoom-109935 - Final Step Collision Loss: 0.0344, Room Outer Loss: 0.0720, Walkable Loss: 4.1103 (Center Penalty: 0.3462, C1 Heatmap: 1.4178, C2 Repulsion: 13.1492), Relational Loss: 0.0172
181
+ Scene LivingDiningRoom-76396 - Final Step Collision Loss: 0.0123, Room Outer Loss: 0.0096, Walkable Loss: 3.2523 (Center Penalty: 0.1296, C1 Heatmap: 1.1478, C2 Repulsion: 11.0223), Relational Loss: 0.0111
182
+ Scene LivingDiningRoom-18728 - Final Step Collision Loss: 0.0258, Room Outer Loss: 0.1057, Walkable Loss: 3.1693 (Center Penalty: 0.3284, C1 Heatmap: 1.1858, C2 Repulsion: 9.4613), Relational Loss: 0.0146
183
+ Scene LivingDiningRoom-46747 - Final Step Collision Loss: 0.0157, Room Outer Loss: 0.0205, Walkable Loss: 3.8112 (Center Penalty: 0.6062, C1 Heatmap: 1.1796, C2 Repulsion: 11.3065), Relational Loss: 0.0136
184
+ Scene LivingRoom-88425 - Final Step Collision Loss: 0.0116, Room Outer Loss: 0.1452, Walkable Loss: 3.7748 (Center Penalty: 0.2290, C1 Heatmap: 1.1243, C2 Repulsion: 13.2315), Relational Loss: 0.0186
185
+ Scene LivingDiningRoom-35769 - Final Step Collision Loss: 0.0150, Room Outer Loss: 0.2246, Walkable Loss: 2.7942 (Center Penalty: 0.0505, C1 Heatmap: 0.5968, C2 Repulsion: 11.3311), Relational Loss: 0.0154
186
+ Scene LivingRoom-1097 - Final Step Collision Loss: 0.0084, Room Outer Loss: 0.0000, Walkable Loss: 3.4969 (Center Penalty: 0.1513, C1 Heatmap: 1.2352, C2 Repulsion: 11.7873), Relational Loss: 0.0201
187
+ Scene LivingDiningRoom-2729 - Final Step Collision Loss: 0.0045, Room Outer Loss: 0.0000, Walkable Loss: 3.0650 (Center Penalty: 0.3499, C1 Heatmap: 1.0655, C2 Repulsion: 9.3136), Relational Loss: 0.0308
188
+ Scene LivingDiningRoom-19784 - Final Step Collision Loss: 0.0071, Room Outer Loss: 0.0000, Walkable Loss: 2.0615 (Center Penalty: 0.1834, C1 Heatmap: 0.9018, C2 Repulsion: 5.7831), Relational Loss: 0.0216
189
+ Scene LivingDiningRoom-10493 - Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 1.9022 (Center Penalty: 0.0688, C1 Heatmap: 0.8639, C2 Repulsion: 5.7111), Relational Loss: 0.0180
190
+ Scene LivingRoom-23405 - Final Step Collision Loss: 0.0207, Room Outer Loss: 0.0877, Walkable Loss: 2.8073 (Center Penalty: 1.1057, C1 Heatmap: 0.5854, C2 Repulsion: 6.1664), Relational Loss: 0.0276
191
+ Scene LivingRoom-3797 - Final Step Collision Loss: 0.0163, Room Outer Loss: 0.0109, Walkable Loss: 2.6460 (Center Penalty: 0.1935, C1 Heatmap: 0.9772, C2 Repulsion: 8.3533), Relational Loss: 0.0281
192
+ Scene LivingRoom-50084 - Final Step Collision Loss: 0.0119, Room Outer Loss: 0.0000, Walkable Loss: 2.2918 (Center Penalty: 0.3303, C1 Heatmap: 0.8466, C2 Repulsion: 6.4209), Relational Loss: 0.0328
193
+ Scene LivingRoom-1772 - Final Step Collision Loss: 0.0097, Room Outer Loss: 0.0000, Walkable Loss: 2.7985 (Center Penalty: 0.5922, C1 Heatmap: 1.0757, C2 Repulsion: 6.7285), Relational Loss: 0.0222
194
+ Scene LivingRoom-30098 - Final Step Collision Loss: 0.0005, Room Outer Loss: 0.0000, Walkable Loss: 2.3615 (Center Penalty: 0.4606, C1 Heatmap: 1.1022, C2 Repulsion: 5.0958), Relational Loss: 0.0062
195
+ Scene LivingRoom-3540 - Final Step Collision Loss: 0.0129, Room Outer Loss: 0.0000, Walkable Loss: 3.6685 (Center Penalty: 0.2954, C1 Heatmap: 1.1709, C2 Repulsion: 12.1815), Relational Loss: 0.0263
196
+ Scene LivingDiningRoom-2583 - Final Step Collision Loss: 0.0217, Room Outer Loss: 0.0924, Walkable Loss: 4.1834 (Center Penalty: 0.2924, C1 Heatmap: 1.2070, C2 Repulsion: 14.6271), Relational Loss: 0.0197
197
+ Scene LivingRoom-68491 - Final Step Collision Loss: 0.0233, Room Outer Loss: 0.0000, Walkable Loss: 2.7632 (Center Penalty: 0.3517, C1 Heatmap: 0.9998, C2 Repulsion: 8.0583), Relational Loss: 0.0273
198
+ Scene LivingRoom-22102 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2953, Walkable Loss: 1.1659 (Center Penalty: 0.1890, C1 Heatmap: 0.7181, C2 Repulsion: 2.0119), Relational Loss: 0.0000
199
+ Scene LivingDiningRoom-2106 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1118, Walkable Loss: 1.2822 (Center Penalty: 0.1836, C1 Heatmap: 0.6885, C2 Repulsion: 2.7387), Relational Loss: 0.0283
200
+ Scene LivingRoom-38721 - Final Step Collision Loss: 0.0089, Room Outer Loss: 1.0159, Walkable Loss: 2.8911 (Center Penalty: 0.5036, C1 Heatmap: 1.1372, C2 Repulsion: 7.3888), Relational Loss: 0.0121
201
+ Scene LivingRoom-2159 - Final Step Collision Loss: 0.0090, Room Outer Loss: 0.0412, Walkable Loss: 2.0900 (Center Penalty: 0.4710, C1 Heatmap: 0.9644, C2 Repulsion: 4.2372), Relational Loss: 0.0086
202
+ Scene LivingRoom-1618 - Final Step Collision Loss: 0.0200, Room Outer Loss: 0.1206, Walkable Loss: 2.5840 (Center Penalty: 0.6549, C1 Heatmap: 0.9246, C2 Repulsion: 5.9473), Relational Loss: 0.0196
203
+ Scene LivingDiningRoom-25795 - Final Step Collision Loss: 0.0015, Room Outer Loss: 0.0000, Walkable Loss: 2.5489 (Center Penalty: 0.3196, C1 Heatmap: 1.0472, C2 Repulsion: 6.9572), Relational Loss: 0.0154
204
+ Scene LivingDiningRoom-62037 - Final Step Collision Loss: 0.0183, Room Outer Loss: 0.0131, Walkable Loss: 3.2109 (Center Penalty: 0.7296, C1 Heatmap: 0.8824, C2 Repulsion: 8.8772), Relational Loss: 0.0314
205
+ Scene LivingDiningRoom-17657 - Final Step Collision Loss: 0.0354, Room Outer Loss: 0.0000, Walkable Loss: 2.8118 (Center Penalty: 0.2278, C1 Heatmap: 1.2053, C2 Repulsion: 8.0985), Relational Loss: 0.0509
206
+ Scene LivingRoom-11224 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1383, Walkable Loss: 1.8199 (Center Penalty: 0.8962, C1 Heatmap: 0.7344, C2 Repulsion: 1.6808), Relational Loss: 0.0350
207
+ Scene LivingRoom-13136 - Final Step Collision Loss: 0.0080, Room Outer Loss: 0.1407, Walkable Loss: 2.7498 (Center Penalty: 0.3135, C1 Heatmap: 0.9266, C2 Repulsion: 8.4750), Relational Loss: 0.0145
208
+ Scene LivingRoom-40975 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0633 (Center Penalty: 0.4849, C1 Heatmap: 0.4852, C2 Repulsion: 0.9514), Relational Loss: 0.0534
209
+ Scene LivingRoom-6045 - Final Step Collision Loss: 0.0125, Room Outer Loss: 0.1232, Walkable Loss: 2.9280 (Center Penalty: 1.0136, C1 Heatmap: 0.9014, C2 Repulsion: 5.9665), Relational Loss: 0.0147
210
+ Scene LivingRoom-2050 - Final Step Collision Loss: 0.0029, Room Outer Loss: 0.0236, Walkable Loss: 2.5566 (Center Penalty: 0.6732, C1 Heatmap: 1.0947, C2 Repulsion: 5.0380), Relational Loss: 0.0296
211
+ Scene LivingRoom-12271 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0681, Walkable Loss: 1.4875 (Center Penalty: 0.5047, C1 Heatmap: 0.7898, C2 Repulsion: 1.7549), Relational Loss: 0.0711
212
+ Scene LivingDiningRoom-52564 - Final Step Collision Loss: 0.0009, Room Outer Loss: 0.0000, Walkable Loss: 1.3411 (Center Penalty: 0.1250, C1 Heatmap: 0.8085, C2 Repulsion: 2.8463), Relational Loss: 0.0184
213
+ Scene LivingRoom-423 - Final Step Collision Loss: 0.0086, Room Outer Loss: 0.3825, Walkable Loss: 4.4096 (Center Penalty: 0.3202, C1 Heatmap: 1.1187, C2 Repulsion: 15.9722), Relational Loss: 0.0088
214
+ Scene LivingRoom-34874 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9461 (Center Penalty: 0.4730, C1 Heatmap: 1.2012, C2 Repulsion: 2.5608), Relational Loss: 0.0540
215
+ Scene LivingDiningRoom-9632 - Final Step Collision Loss: 0.0050, Room Outer Loss: 0.0000, Walkable Loss: 2.4939 (Center Penalty: 0.2064, C1 Heatmap: 1.0219, C2 Repulsion: 7.3498), Relational Loss: 0.0284
216
+ Scene LivingRoom-860 - Final Step Collision Loss: 0.0892, Room Outer Loss: 0.0653, Walkable Loss: 2.5974 (Center Penalty: 0.5075, C1 Heatmap: 0.9728, C2 Repulsion: 6.5582), Relational Loss: 0.0119
217
+ Scene LivingDiningRoom-8304 - Final Step Collision Loss: 0.0180, Room Outer Loss: 0.0000, Walkable Loss: 3.4586 (Center Penalty: 0.0869, C1 Heatmap: 1.1158, C2 Repulsion: 12.3953), Relational Loss: 0.0215
218
+ Scene LivingDiningRoom-13962 - Final Step Collision Loss: 0.0034, Room Outer Loss: 0.1086, Walkable Loss: 3.0409 (Center Penalty: 0.3156, C1 Heatmap: 0.9900, C2 Repulsion: 9.6668), Relational Loss: 0.0226
219
+ Scene LivingRoom-41893 - Final Step Collision Loss: 0.0205, Room Outer Loss: 0.0000, Walkable Loss: 3.0661 (Center Penalty: 0.4606, C1 Heatmap: 1.0442, C2 Repulsion: 8.8503), Relational Loss: 0.0751
220
+ Scene LivingRoom-18042 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0785, Walkable Loss: 1.0546 (Center Penalty: 0.3703, C1 Heatmap: 0.6659, C2 Repulsion: 0.7579), Relational Loss: 0.0000
221
+ Scene LivingDiningRoom-26816 - Final Step Collision Loss: 0.0167, Room Outer Loss: 0.2764, Walkable Loss: 3.8578 (Center Penalty: 0.3796, C1 Heatmap: 1.1656, C2 Repulsion: 12.7289), Relational Loss: 0.0161
222
+ Scene LivingDiningRoom-17385 - Final Step Collision Loss: 0.0407, Room Outer Loss: 0.0191, Walkable Loss: 3.3882 (Center Penalty: 0.2881, C1 Heatmap: 1.1955, C2 Repulsion: 10.7181), Relational Loss: 0.0322
223
+ Scene LivingRoom-31397 - Final Step Collision Loss: 0.0015, Room Outer Loss: 0.0901, Walkable Loss: 2.1807 (Center Penalty: 0.7220, C1 Heatmap: 0.7289, C2 Repulsion: 4.3780), Relational Loss: 0.0079
224
+ Scene LivingDiningRoom-14432 - Final Step Collision Loss: 0.0095, Room Outer Loss: 0.0000, Walkable Loss: 3.5451 (Center Penalty: 0.1637, C1 Heatmap: 1.3134, C2 Repulsion: 11.6531), Relational Loss: 0.0330
225
+ Scene LivingRoom-5361 - Final Step Collision Loss: 0.0489, Room Outer Loss: 0.0000, Walkable Loss: 3.4761 (Center Penalty: 0.3007, C1 Heatmap: 1.1732, C2 Repulsion: 11.1840), Relational Loss: 0.0412
226
+ Scene LivingRoom-5655 - Final Step Collision Loss: 0.0292, Room Outer Loss: 0.0000, Walkable Loss: 2.5709 (Center Penalty: 0.1939, C1 Heatmap: 1.1090, C2 Repulsion: 7.4491), Relational Loss: 0.0626
227
+ Scene LivingRoom-55 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0955, Walkable Loss: 2.2163 (Center Penalty: 0.6911, C1 Heatmap: 1.0059, C2 Repulsion: 3.6025), Relational Loss: 0.0056
228
+ Scene LivingDiningRoom-941 - Final Step Collision Loss: 0.0152, Room Outer Loss: 0.0644, Walkable Loss: 3.4387 (Center Penalty: 0.5467, C1 Heatmap: 1.0142, C2 Repulsion: 10.4032), Relational Loss: 0.0310
229
+ Scene LivingRoom-2715 - Final Step Collision Loss: 0.0851, Room Outer Loss: 0.0801, Walkable Loss: 4.2926 (Center Penalty: 0.3476, C1 Heatmap: 1.4884, C2 Repulsion: 13.7718), Relational Loss: 0.0218
230
+ Scene LivingDiningRoom-10201 - Final Step Collision Loss: 0.0045, Room Outer Loss: 0.2074, Walkable Loss: 1.3385 (Center Penalty: 0.1106, C1 Heatmap: 0.8774, C2 Repulsion: 2.6302), Relational Loss: 0.0160
231
+ Scene LivingRoom-24701 - Final Step Collision Loss: 0.0148, Room Outer Loss: 0.0000, Walkable Loss: 2.0674 (Center Penalty: 0.3930, C1 Heatmap: 0.8881, C2 Repulsion: 4.8197), Relational Loss: 0.0370
232
+ Scene LivingDiningRoom-11440 - Final Step Collision Loss: 0.0059, Room Outer Loss: 0.1398, Walkable Loss: 2.0605 (Center Penalty: 0.4837, C1 Heatmap: 0.7313, C2 Repulsion: 4.9589), Relational Loss: 0.0087
233
+ Scene LivingRoom-37001 - Final Step Collision Loss: 0.0215, Room Outer Loss: 0.2377, Walkable Loss: 2.3829 (Center Penalty: 0.2506, C1 Heatmap: 0.9101, C2 Repulsion: 7.0210), Relational Loss: 0.0170
234
+ Scene LivingRoom-1255 - Final Step Collision Loss: 0.0000, Room Outer Loss: 1.3308, Walkable Loss: 2.1359 (Center Penalty: 0.4644, C1 Heatmap: 1.1509, C2 Repulsion: 3.7544), Relational Loss: 0.0454
235
+ Scene LivingRoom-3168 - Final Step Collision Loss: 0.0107, Room Outer Loss: 0.0000, Walkable Loss: 3.1899 (Center Penalty: 0.3659, C1 Heatmap: 0.9769, C2 Repulsion: 10.2124), Relational Loss: 0.0192
236
+ Scene LivingRoom-26286 - Final Step Collision Loss: 0.0170, Room Outer Loss: 0.1579, Walkable Loss: 3.8678 (Center Penalty: 0.2723, C1 Heatmap: 1.3629, C2 Repulsion: 12.5261), Relational Loss: 0.0235
237
+ Scene LivingRoom-4960 - Final Step Collision Loss: 0.0021, Room Outer Loss: 0.1797, Walkable Loss: 2.3726 (Center Penalty: 0.6772, C1 Heatmap: 0.8425, C2 Repulsion: 5.1067), Relational Loss: 0.0179
238
+ Scene LivingRoom-2410 - Final Step Collision Loss: 0.0195, Room Outer Loss: 0.0149, Walkable Loss: 3.4459 (Center Penalty: 0.6718, C1 Heatmap: 0.8771, C2 Repulsion: 10.3622), Relational Loss: 0.0616
239
+ Scene LivingDiningRoom-17836 - Final Step Collision Loss: 0.0161, Room Outer Loss: 0.0364, Walkable Loss: 4.8357 (Center Penalty: 0.4865, C1 Heatmap: 1.3389, C2 Repulsion: 16.3906), Relational Loss: 0.0315
240
+ Scene LivingRoom-52289 - Final Step Collision Loss: 0.0012, Room Outer Loss: 0.0000, Walkable Loss: 2.1824 (Center Penalty: 0.8047, C1 Heatmap: 0.8167, C2 Repulsion: 3.6217), Relational Loss: 0.0205
241
+ Scene LivingDiningRoom-19931 - Final Step Collision Loss: 0.0093, Room Outer Loss: 0.2379, Walkable Loss: 3.6754 (Center Penalty: 0.2209, C1 Heatmap: 1.1641, C2 Repulsion: 12.6162), Relational Loss: 0.0150
242
+ Scene LivingRoom-4789 - Final Step Collision Loss: 0.0052, Room Outer Loss: 0.0000, Walkable Loss: 4.4863 (Center Penalty: 0.3121, C1 Heatmap: 1.1168, C2 Repulsion: 16.4036), Relational Loss: 0.0119
243
+ Scene LivingDiningRoom-814 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3880 (Center Penalty: 0.4897, C1 Heatmap: 0.8132, C2 Repulsion: 1.2391), Relational Loss: 0.0000
244
+ Scene LivingRoom-35461 - Final Step Collision Loss: 0.0408, Room Outer Loss: 0.0000, Walkable Loss: 2.0990 (Center Penalty: 0.6142, C1 Heatmap: 0.6354, C2 Repulsion: 4.8826), Relational Loss: 0.0243
245
+ Scene LivingRoom-360 - Final Step Collision Loss: 0.0437, Room Outer Loss: 0.0000, Walkable Loss: 1.5345 (Center Penalty: 0.4546, C1 Heatmap: 0.7280, C2 Repulsion: 2.4872), Relational Loss: 0.0267
246
+ Scene DiningRoom-15534 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.5343 (Center Penalty: 1.6132, C1 Heatmap: 0.9078, C2 Repulsion: 5.9742), Relational Loss: 0.0000
247
+ Scene DiningRoom-31158 - Final Step Collision Loss: 0.0015, Room Outer Loss: 0.0000, Walkable Loss: 3.7045 (Center Penalty: 2.0330, C1 Heatmap: 0.6126, C2 Repulsion: 5.9068), Relational Loss: 0.0460
248
+ Scene DiningRoom-197500 - Final Step Collision Loss: 0.0497, Room Outer Loss: 0.0452, Walkable Loss: 4.5574 (Center Penalty: 0.9781, C1 Heatmap: 1.1362, C2 Repulsion: 13.3520), Relational Loss: 0.0429
249
+ Scene DiningRoom-26805 - Final Step Collision Loss: 0.0244, Room Outer Loss: 0.0191, Walkable Loss: 3.1468 (Center Penalty: 1.1815, C1 Heatmap: 0.5885, C2 Repulsion: 7.4726), Relational Loss: 0.0101
250
+ Scene DiningRoom-17995 - Final Step Collision Loss: 0.0139, Room Outer Loss: 0.0000, Walkable Loss: 1.7160 (Center Penalty: 0.5189, C1 Heatmap: 0.4701, C2 Repulsion: 4.1051), Relational Loss: 0.0379
251
+ Scene DiningRoom-16628 - Final Step Collision Loss: 0.0249, Room Outer Loss: 0.0000, Walkable Loss: 2.7558 (Center Penalty: 1.2806, C1 Heatmap: 0.5484, C2 Repulsion: 5.1819), Relational Loss: 0.0312
252
+ Scene DiningRoom-11628 - Final Step Collision Loss: 0.0015, Room Outer Loss: 0.0474, Walkable Loss: 1.8476 (Center Penalty: 0.6373, C1 Heatmap: 0.3378, C2 Repulsion: 4.7003), Relational Loss: 0.0163
253
+ Scene DiningRoom-29864 - Final Step Collision Loss: 0.0140, Room Outer Loss: 0.0000, Walkable Loss: 1.4792 (Center Penalty: 0.2176, C1 Heatmap: 0.4529, C2 Repulsion: 4.4964), Relational Loss: 0.0213
254
+ Scene DiningRoom-2817 - Final Step Collision Loss: 0.0045, Room Outer Loss: 0.0087, Walkable Loss: 2.6127 (Center Penalty: 1.7558, C1 Heatmap: 0.4137, C2 Repulsion: 2.6295), Relational Loss: 0.0011
255
+ Scene DiningRoom-35065 - Final Step Collision Loss: 0.0268, Room Outer Loss: 0.2481, Walkable Loss: 2.9219 (Center Penalty: 1.2175, C1 Heatmap: 0.4954, C2 Repulsion: 6.5405), Relational Loss: 0.0528
256
+ Scene DiningRoom-88173 - Final Step Collision Loss: 0.0469, Room Outer Loss: 0.0000, Walkable Loss: 4.1193 (Center Penalty: 1.0879, C1 Heatmap: 0.9383, C2 Repulsion: 11.4036), Relational Loss: 0.0840
257
+ Scene DiningRoom-35093 - Final Step Collision Loss: 0.0357, Room Outer Loss: 0.0114, Walkable Loss: 3.1041 (Center Penalty: 1.9285, C1 Heatmap: 0.4961, C2 Repulsion: 3.8936), Relational Loss: 0.0237
258
+ Scene DiningRoom-10302 - Final Step Collision Loss: 0.0187, Room Outer Loss: 0.0000, Walkable Loss: 2.7105 (Center Penalty: 1.0785, C1 Heatmap: 0.6644, C2 Repulsion: 5.5027), Relational Loss: 0.0193
259
+ Scene DiningRoom-113004 - Final Step Collision Loss: 0.0013, Room Outer Loss: 0.0000, Walkable Loss: 2.0970 (Center Penalty: 0.8878, C1 Heatmap: 0.5458, C2 Repulsion: 3.8625), Relational Loss: 0.0600
260
+ Scene DiningRoom-22384 - Final Step Collision Loss: 0.0028, Room Outer Loss: 0.0000, Walkable Loss: 1.7805 (Center Penalty: 0.5992, C1 Heatmap: 0.4571, C2 Repulsion: 4.0780), Relational Loss: 0.0399
261
+ Scene DiningRoom-11145 - Final Step Collision Loss: 0.0417, Room Outer Loss: 0.0000, Walkable Loss: 3.3377 (Center Penalty: 1.5078, C1 Heatmap: 0.6507, C2 Repulsion: 6.5467), Relational Loss: 0.0657
262
+ Scene DiningRoom-10559 - Final Step Collision Loss: 0.0218, Room Outer Loss: 0.0157, Walkable Loss: 2.5305 (Center Penalty: 0.6004, C1 Heatmap: 0.8953, C2 Repulsion: 6.0691), Relational Loss: 0.0164
263
+ Scene DiningRoom-85692 - Final Step Collision Loss: 0.0155, Room Outer Loss: 0.0000, Walkable Loss: 2.1302 (Center Penalty: 1.0017, C1 Heatmap: 0.4479, C2 Repulsion: 3.8508), Relational Loss: 0.0400
264
+ Scene DiningRoom-12866 - Final Step Collision Loss: 0.0307, Room Outer Loss: 0.0471, Walkable Loss: 2.6077 (Center Penalty: 0.8662, C1 Heatmap: 0.6298, C2 Repulsion: 6.1883), Relational Loss: 0.0228
265
+ Scene DiningRoom-9824 - Final Step Collision Loss: 0.0219, Room Outer Loss: 0.1558, Walkable Loss: 2.5736 (Center Penalty: 0.9242, C1 Heatmap: 0.5878, C2 Repulsion: 5.8955), Relational Loss: 0.0297
266
+ Scene DiningRoom-88590 - Final Step Collision Loss: 0.0244, Room Outer Loss: 0.0000, Walkable Loss: 2.2012 (Center Penalty: 0.3545, C1 Heatmap: 0.8253, C2 Repulsion: 5.9324), Relational Loss: 0.0448
267
+ Scene DiningRoom-7217 - Final Step Collision Loss: 0.0257, Room Outer Loss: 0.0000, Walkable Loss: 2.8774 (Center Penalty: 1.5752, C1 Heatmap: 0.4341, C2 Repulsion: 4.7751), Relational Loss: 0.0461
268
+ Scene DiningRoom-19325 - Final Step Collision Loss: 0.0060, Room Outer Loss: 0.0000, Walkable Loss: 2.4747 (Center Penalty: 1.4066, C1 Heatmap: 0.4623, C2 Repulsion: 3.4914), Relational Loss: 0.0503
269
+ Scene DiningRoom-27933 - Final Step Collision Loss: 0.0006, Room Outer Loss: 0.0000, Walkable Loss: 3.5108 (Center Penalty: 2.5195, C1 Heatmap: 0.4086, C2 Repulsion: 3.3224), Relational Loss: 0.0403
270
+ Scene DiningRoom-9630 - Final Step Collision Loss: 0.0069, Room Outer Loss: 0.0000, Walkable Loss: 2.2971 (Center Penalty: 1.1831, C1 Heatmap: 0.4450, C2 Repulsion: 3.7901), Relational Loss: 0.0320
271
+ Scene DiningRoom-225770 - Final Step Collision Loss: 0.0338, Room Outer Loss: 0.0700, Walkable Loss: 1.8683 (Center Penalty: 0.6836, C1 Heatmap: 0.4822, C2 Repulsion: 3.9946), Relational Loss: 0.0598
272
+ Scene DiningRoom-116178 - Final Step Collision Loss: 0.0023, Room Outer Loss: 0.0000, Walkable Loss: 1.5339 (Center Penalty: 0.3570, C1 Heatmap: 0.4866, C2 Repulsion: 3.9378), Relational Loss: 0.0445
273
+ Scene DiningRoom-22156 - Final Step Collision Loss: 0.0263, Room Outer Loss: 0.0000, Walkable Loss: 3.4632 (Center Penalty: 2.1021, C1 Heatmap: 0.4458, C2 Repulsion: 5.0221), Relational Loss: 0.0357
274
+ Scene DiningRoom-22308 - Final Step Collision Loss: 0.0396, Room Outer Loss: 0.0000, Walkable Loss: 3.6275 (Center Penalty: 2.1763, C1 Heatmap: 0.5910, C2 Repulsion: 4.8922), Relational Loss: 0.0620
275
+ Scene DiningRoom-11336 - Final Step Collision Loss: 0.0196, Room Outer Loss: 0.0014, Walkable Loss: 3.1057 (Center Penalty: 1.5676, C1 Heatmap: 0.5127, C2 Repulsion: 5.6394), Relational Loss: 0.0795
276
+ Scene DiningRoom-6151 - Final Step Collision Loss: 0.0161, Room Outer Loss: 0.2320, Walkable Loss: 3.1408 (Center Penalty: 0.6800, C1 Heatmap: 0.8095, C2 Repulsion: 9.0661), Relational Loss: 0.0631
277
+ Scene DiningRoom-663 - Final Step Collision Loss: 0.0240, Room Outer Loss: 0.0696, Walkable Loss: 2.4600 (Center Penalty: 1.1146, C1 Heatmap: 0.5143, C2 Repulsion: 4.6696), Relational Loss: 0.0851
278
+ Scene DiningRoom-2432 - Final Step Collision Loss: 0.0034, Room Outer Loss: 0.0153, Walkable Loss: 3.7977 (Center Penalty: 2.1199, C1 Heatmap: 0.5462, C2 Repulsion: 6.2041), Relational Loss: 0.0457
279
+ Scene DiningRoom-24272 - Final Step Collision Loss: 0.0119, Room Outer Loss: 0.0510, Walkable Loss: 2.8161 (Center Penalty: 1.7371, C1 Heatmap: 0.5080, C2 Repulsion: 3.3627), Relational Loss: 0.0895
280
+ Scene DiningRoom-25528 - Final Step Collision Loss: 0.0077, Room Outer Loss: 0.0000, Walkable Loss: 3.5319 (Center Penalty: 2.0098, C1 Heatmap: 0.5803, C2 Repulsion: 5.2895), Relational Loss: 0.0551
281
+ Scene DiningRoom-43067 - Final Step Collision Loss: 0.0117, Room Outer Loss: 0.0000, Walkable Loss: 2.9659 (Center Penalty: 1.6428, C1 Heatmap: 0.5013, C2 Repulsion: 4.6103), Relational Loss: 0.0369
282
+ Scene DiningRoom-8121 - Final Step Collision Loss: 0.0043, Room Outer Loss: 0.0000, Walkable Loss: 2.3564 (Center Penalty: 0.8739, C1 Heatmap: 0.5201, C2 Repulsion: 5.3321), Relational Loss: 0.0187
283
+ Scene DiningRoom-6919 - Final Step Collision Loss: 0.0170, Room Outer Loss: 0.0486, Walkable Loss: 3.5122 (Center Penalty: 0.9380, C1 Heatmap: 0.7940, C2 Repulsion: 9.6951), Relational Loss: 0.0517
284
+ Scene DiningRoom-17147 - Final Step Collision Loss: 0.0122, Room Outer Loss: 0.0200, Walkable Loss: 4.0407 (Center Penalty: 1.0746, C1 Heatmap: 0.7405, C2 Repulsion: 11.8687), Relational Loss: 0.0672
285
+ Scene DiningRoom-6259 - Final Step Collision Loss: 0.0331, Room Outer Loss: 0.2187, Walkable Loss: 3.9914 (Center Penalty: 2.4317, C1 Heatmap: 0.4765, C2 Repulsion: 5.8925), Relational Loss: 0.0489
286
+ Scene DiningRoom-451 - Final Step Collision Loss: 0.0258, Room Outer Loss: 0.0000, Walkable Loss: 4.3647 (Center Penalty: 2.1703, C1 Heatmap: 0.6497, C2 Repulsion: 8.3732), Relational Loss: 0.0479
287
+ Scene DiningRoom-18332 - Final Step Collision Loss: 0.0346, Room Outer Loss: 0.0949, Walkable Loss: 3.7371 (Center Penalty: 1.8877, C1 Heatmap: 0.5871, C2 Repulsion: 6.8982), Relational Loss: 0.0344
288
+ Scene DiningRoom-8951 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3905 (Center Penalty: 1.1149, C1 Heatmap: 0.2496, C2 Repulsion: 0.3796), Relational Loss: 0.0268
289
+ Scene DiningRoom-9982 - Final Step Collision Loss: 0.0377, Room Outer Loss: 0.0000, Walkable Loss: 2.7151 (Center Penalty: 1.4546, C1 Heatmap: 0.5380, C2 Repulsion: 4.1505), Relational Loss: 0.0357
290
+ Scene DiningRoom-168152 - Final Step Collision Loss: 0.0051, Room Outer Loss: 0.2979, Walkable Loss: 2.8978 (Center Penalty: 1.3908, C1 Heatmap: 0.5963, C2 Repulsion: 5.1496), Relational Loss: 0.0438
291
+ Scene DiningRoom-5492 - Final Step Collision Loss: 0.0317, Room Outer Loss: 0.0000, Walkable Loss: 2.2812 (Center Penalty: 0.3699, C1 Heatmap: 0.6545, C2 Repulsion: 6.9379), Relational Loss: 0.0312
292
+ Scene DiningRoom-375 - Final Step Collision Loss: 0.0464, Room Outer Loss: 0.1138, Walkable Loss: 2.8707 (Center Penalty: 1.6517, C1 Heatmap: 0.5498, C2 Repulsion: 3.8955), Relational Loss: 0.0783
293
+ Scene DiningRoom-3017 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0272, Walkable Loss: 1.3608 (Center Penalty: 0.7489, C1 Heatmap: 0.3168, C2 Repulsion: 1.7921), Relational Loss: 0.0118
294
+ Scene DiningRoom-164 - Final Step Collision Loss: 0.0256, Room Outer Loss: 0.0000, Walkable Loss: 2.7674 (Center Penalty: 1.0242, C1 Heatmap: 0.5875, C2 Repulsion: 6.3662), Relational Loss: 0.0437
295
+ Scene DiningRoom-34036 - Final Step Collision Loss: 0.0118, Room Outer Loss: 0.0949, Walkable Loss: 3.2310 (Center Penalty: 1.1709, C1 Heatmap: 0.7127, C2 Repulsion: 7.4496), Relational Loss: 0.0236
296
+ Scene DiningRoom-114621 - Final Step Collision Loss: 0.0135, Room Outer Loss: 0.0000, Walkable Loss: 2.0398 (Center Penalty: 0.7211, C1 Heatmap: 0.4367, C2 Repulsion: 4.8467), Relational Loss: 0.0493
297
+ Scene DiningRoom-33238 - Final Step Collision Loss: 0.0084, Room Outer Loss: 0.0168, Walkable Loss: 0.9125 (Center Penalty: 0.3410, C1 Heatmap: 0.4325, C2 Repulsion: 1.1275), Relational Loss: 0.0000
298
+ Scene DiningRoom-69393 - Final Step Collision Loss: 0.0037, Room Outer Loss: 0.0000, Walkable Loss: 2.4343 (Center Penalty: 0.4796, C1 Heatmap: 0.7528, C2 Repulsion: 6.7622), Relational Loss: 0.0491
299
+ Scene DiningRoom-87276 - Final Step Collision Loss: 0.0072, Room Outer Loss: 0.0000, Walkable Loss: 3.4779 (Center Penalty: 1.2359, C1 Heatmap: 0.6933, C2 Repulsion: 8.4366), Relational Loss: 0.0482
300
+ Scene DiningRoom-16460 - Final Step Collision Loss: 0.0258, Room Outer Loss: 0.0023, Walkable Loss: 3.1111 (Center Penalty: 0.5977, C1 Heatmap: 0.8214, C2 Repulsion: 9.2809), Relational Loss: 0.0406
301
+ Scene DiningRoom-31322 - Final Step Collision Loss: 0.0041, Room Outer Loss: 0.0683, Walkable Loss: 2.7943 (Center Penalty: 1.0082, C1 Heatmap: 0.5371, C2 Repulsion: 6.7817), Relational Loss: 0.0279
302
+ Scene DiningRoom-20718 - Final Step Collision Loss: 0.0302, Room Outer Loss: 0.0000, Walkable Loss: 2.6032 (Center Penalty: 0.4353, C1 Heatmap: 0.8635, C2 Repulsion: 7.3857), Relational Loss: 0.0436
303
+ Scene DiningRoom-7122 - Final Step Collision Loss: 0.0498, Room Outer Loss: 0.0786, Walkable Loss: 2.2302 (Center Penalty: 0.6612, C1 Heatmap: 0.5747, C2 Repulsion: 5.5464), Relational Loss: 0.0387
304
+ Scene DiningRoom-22339 - Final Step Collision Loss: 0.0341, Room Outer Loss: 0.1648, Walkable Loss: 2.9020 (Center Penalty: 1.3713, C1 Heatmap: 0.5157, C2 Repulsion: 5.5905), Relational Loss: 0.0406
305
+ Scene DiningRoom-12376 - Final Step Collision Loss: 0.0135, Room Outer Loss: 0.0000, Walkable Loss: 3.1798 (Center Penalty: 0.8594, C1 Heatmap: 0.8298, C2 Repulsion: 8.2832), Relational Loss: 0.0173
306
+ Scene DiningRoom-19885 - Final Step Collision Loss: 0.0002, Room Outer Loss: 0.0000, Walkable Loss: 2.9432 (Center Penalty: 1.2995, C1 Heatmap: 0.5863, C2 Repulsion: 5.8734), Relational Loss: 0.0524
307
+ Scene DiningRoom-2831 - Final Step Collision Loss: 0.0084, Room Outer Loss: 0.0000, Walkable Loss: 1.4883 (Center Penalty: 0.8620, C1 Heatmap: 0.3095, C2 Repulsion: 1.8937), Relational Loss: 0.0169
308
+ Scene DiningRoom-60525 - Final Step Collision Loss: 0.0058, Room Outer Loss: 0.0000, Walkable Loss: 1.8653 (Center Penalty: 0.6253, C1 Heatmap: 0.4600, C2 Repulsion: 4.3599), Relational Loss: 0.0247
309
+ Scene DiningRoom-55572 - Final Step Collision Loss: 0.0427, Room Outer Loss: 0.0000, Walkable Loss: 3.5594 (Center Penalty: 0.1542, C1 Heatmap: 1.3717, C2 Repulsion: 11.5392), Relational Loss: 0.0548
310
+ Scene DiningRoom-24191 - Final Step Collision Loss: 0.0153, Room Outer Loss: 0.0000, Walkable Loss: 3.9109 (Center Penalty: 1.7286, C1 Heatmap: 0.6700, C2 Repulsion: 8.2316), Relational Loss: 0.0418
311
+ Scene DiningRoom-13034 - Final Step Collision Loss: 0.0053, Room Outer Loss: 0.0000, Walkable Loss: 2.1355 (Center Penalty: 1.2989, C1 Heatmap: 0.2899, C2 Repulsion: 3.0234), Relational Loss: 0.0452
312
+ Scene DiningRoom-21509 - Final Step Collision Loss: 0.0202, Room Outer Loss: 0.0961, Walkable Loss: 1.7941 (Center Penalty: 0.6547, C1 Heatmap: 0.4000, C2 Repulsion: 4.0968), Relational Loss: 0.0320
313
+ Scene DiningRoom-42541 - Final Step Collision Loss: 0.0487, Room Outer Loss: 0.0084, Walkable Loss: 1.8671 (Center Penalty: 0.8131, C1 Heatmap: 0.3552, C2 Repulsion: 3.8492), Relational Loss: 0.0521
314
+ Scene DiningRoom-13727 - Final Step Collision Loss: 0.0233, Room Outer Loss: 0.0000, Walkable Loss: 2.9439 (Center Penalty: 1.0892, C1 Heatmap: 0.7109, C2 Repulsion: 6.4298), Relational Loss: 0.0730
315
+ Scene Library-4425 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0500, Walkable Loss: 2.4929 (Center Penalty: 1.7408, C1 Heatmap: 0.4474, C2 Repulsion: 1.9704), Relational Loss: 0.0000
316
+ Scene Library-4345 - Final Step Collision Loss: 0.3879, Room Outer Loss: 0.4094, Walkable Loss: 2.4594 (Center Penalty: 1.1256, C1 Heatmap: 0.9555, C2 Repulsion: 2.8467), Relational Loss: 0.0470
317
+ Scene Library-16688 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4561 (Center Penalty: 1.2125, C1 Heatmap: 0.5977, C2 Repulsion: 3.8268), Relational Loss: 0.0248
318
+ Scene Library-29416 - Final Step Collision Loss: 0.0281, Room Outer Loss: 0.4742, Walkable Loss: 3.8313 (Center Penalty: 2.1792, C1 Heatmap: 0.7139, C2 Repulsion: 5.4049), Relational Loss: 0.0328
319
+ Scene Library-110125 - Final Step Collision Loss: 0.0408, Room Outer Loss: 0.0000, Walkable Loss: 1.6645 (Center Penalty: 0.7394, C1 Heatmap: 0.4145, C2 Repulsion: 2.9676), Relational Loss: 0.0125
320
+ Scene Library-19478 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1912 (Center Penalty: 1.7501, C1 Heatmap: 0.3042, C2 Repulsion: 0.9888), Relational Loss: 0.0474
321
+ Scene Library-898 - Final Step Collision Loss: 0.0947, Room Outer Loss: 1.2095, Walkable Loss: 2.5161 (Center Penalty: 1.4929, C1 Heatmap: 0.6142, C2 Repulsion: 2.6593), Relational Loss: 0.0489
322
+ Scene Library-2159 - Final Step Collision Loss: 0.0216, Room Outer Loss: 0.5201, Walkable Loss: 3.0077 (Center Penalty: 1.0498, C1 Heatmap: 1.0982, C2 Repulsion: 5.3966), Relational Loss: 0.0694
323
+ Scene Library-7291 - Final Step Collision Loss: 0.0364, Room Outer Loss: 0.0540, Walkable Loss: 2.3560 (Center Penalty: 1.1823, C1 Heatmap: 0.6547, C2 Repulsion: 3.2496), Relational Loss: 0.0125
324
+ Scene Library-24727 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0639, Walkable Loss: 1.5657 (Center Penalty: 1.3483, C1 Heatmap: 0.2233, C2 Repulsion: 0.1938), Relational Loss: 0.0000
325
+ Scene Library-43565 - Final Step Collision Loss: 0.0696, Room Outer Loss: 1.2410, Walkable Loss: 2.8815 (Center Penalty: 1.4700, C1 Heatmap: 0.8031, C2 Repulsion: 3.8448), Relational Loss: 0.0241
326
+ Scene Library-24675 - Final Step Collision Loss: 0.0138, Room Outer Loss: 0.0133, Walkable Loss: 1.2789 (Center Penalty: 0.4572, C1 Heatmap: 0.4432, C2 Repulsion: 2.3353), Relational Loss: 0.0003
327
+ Scene Library-11256 - Final Step Collision Loss: 0.0727, Room Outer Loss: 0.2304, Walkable Loss: 4.0773 (Center Penalty: 1.4662, C1 Heatmap: 1.1408, C2 Repulsion: 8.4924), Relational Loss: 0.0374
328
+ Scene Library-70308 - Final Step Collision Loss: 0.0049, Room Outer Loss: 0.0490, Walkable Loss: 3.2481 (Center Penalty: 1.9501, C1 Heatmap: 0.4863, C2 Repulsion: 4.5448), Relational Loss: 0.0150
329
+ Scene Library-57472 - Final Step Collision Loss: 0.0172, Room Outer Loss: 0.2003, Walkable Loss: 1.2703 (Center Penalty: 0.7197, C1 Heatmap: 0.3251, C2 Repulsion: 1.4529), Relational Loss: 0.0099
330
+ Scene Library-32231 - Final Step Collision Loss: 0.0614, Room Outer Loss: 1.5092, Walkable Loss: 2.7870 (Center Penalty: 1.1901, C1 Heatmap: 0.8800, C2 Repulsion: 4.4645), Relational Loss: 0.0739
331
+ Scene Library-2480 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0528, Walkable Loss: 1.5862 (Center Penalty: 1.1785, C1 Heatmap: 0.4115, C2 Repulsion: 0.3926), Relational Loss: 0.1073
332
+ Scene Library-23898 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0581, Walkable Loss: 1.3445 (Center Penalty: 0.8732, C1 Heatmap: 0.3424, C2 Repulsion: 0.9868), Relational Loss: 0.0354
333
+ Scene Library-19283 - Final Step Collision Loss: 0.1005, Room Outer Loss: 0.1557, Walkable Loss: 2.3676 (Center Penalty: 1.4105, C1 Heatmap: 0.4871, C2 Repulsion: 2.8372), Relational Loss: 0.0137
334
+ Scene Library-29744 - Final Step Collision Loss: 0.0525, Room Outer Loss: 2.0713, Walkable Loss: 2.9131 (Center Penalty: 1.0460, C1 Heatmap: 0.9656, C2 Repulsion: 5.4732), Relational Loss: 0.0670
335
+ Scene Library-22443 - Final Step Collision Loss: 0.0103, Room Outer Loss: 0.0000, Walkable Loss: 2.1460 (Center Penalty: 1.0526, C1 Heatmap: 0.3150, C2 Repulsion: 4.2074), Relational Loss: 0.0098
336
+ Scene Library-1093 - Final Step Collision Loss: 0.0199, Room Outer Loss: 0.2683, Walkable Loss: 1.6204 (Center Penalty: 0.7796, C1 Heatmap: 0.3260, C2 Repulsion: 2.9001), Relational Loss: 0.0248
337
+ Scene Library-13832 - Final Step Collision Loss: 0.0244, Room Outer Loss: 0.1012, Walkable Loss: 1.6613 (Center Penalty: 0.7599, C1 Heatmap: 0.3803, C2 Repulsion: 2.9855), Relational Loss: 0.0462
338
+ Scene Library-16869 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0320, Walkable Loss: 2.4878 (Center Penalty: 1.6290, C1 Heatmap: 0.4668, C2 Repulsion: 2.4267), Relational Loss: 0.0529
339
+ Scene Library-29737 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4766 (Center Penalty: 1.6770, C1 Heatmap: 0.5851, C2 Repulsion: 1.6578), Relational Loss: 0.0000
340
+ Scene Library-13751 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.9365 (Center Penalty: 1.9546, C1 Heatmap: 0.6312, C2 Repulsion: 2.3851), Relational Loss: 0.0280
341
+ Scene Library-11820 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2025, Walkable Loss: 2.1741 (Center Penalty: 1.6090, C1 Heatmap: 0.4863, C2 Repulsion: 0.8804), Relational Loss: 0.0307
342
+ Scene Library-45741 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0715, Walkable Loss: 2.6903 (Center Penalty: 1.9131, C1 Heatmap: 0.4396, C2 Repulsion: 2.1275), Relational Loss: 0.0027
343
+ Scene Library-4659 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1447 (Center Penalty: 0.8016, C1 Heatmap: 0.3366, C2 Repulsion: 0.3693), Relational Loss: 0.0180
344
+ Scene Library-1808 - Final Step Collision Loss: 0.0406, Room Outer Loss: 1.6175, Walkable Loss: 4.2822 (Center Penalty: 2.2870, C1 Heatmap: 1.1722, C2 Repulsion: 5.2869), Relational Loss: 0.1181
345
+ Scene Library-457 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0833, Walkable Loss: 1.7049 (Center Penalty: 1.2177, C1 Heatmap: 0.3705, C2 Repulsion: 0.9538), Relational Loss: 0.0000
346
+ Scene Library-123545 - Final Step Collision Loss: 0.2810, Room Outer Loss: 3.1433, Walkable Loss: 4.7935 (Center Penalty: 1.8131, C1 Heatmap: 1.5285, C2 Repulsion: 8.7882), Relational Loss: 0.0677
347
+ Scene Library-71638 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2762 (Center Penalty: 1.7658, C1 Heatmap: 0.3157, C2 Repulsion: 1.2895), Relational Loss: 0.0000
348
+ Scene Library-90753 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0661, Walkable Loss: 1.8410 (Center Penalty: 1.1447, C1 Heatmap: 0.3502, C2 Repulsion: 2.0807), Relational Loss: 0.0214
349
+ Scene Library-8543 - Final Step Collision Loss: 0.0093, Room Outer Loss: 0.0972, Walkable Loss: 2.3930 (Center Penalty: 1.7105, C1 Heatmap: 0.3831, C2 Repulsion: 1.8804), Relational Loss: 0.0068
350
+ Scene Library-28947 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0328, Walkable Loss: 1.0612 (Center Penalty: 0.6481, C1 Heatmap: 0.2665, C2 Repulsion: 0.9997), Relational Loss: 0.0259
351
+ Scene Library-163346 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1156, Walkable Loss: 1.1047 (Center Penalty: 0.7509, C1 Heatmap: 0.1926, C2 Repulsion: 0.9985), Relational Loss: 0.0000
352
+ Scene Library-32140 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0333 (Center Penalty: 0.7129, C1 Heatmap: 0.2501, C2 Repulsion: 0.6017), Relational Loss: 0.0501
353
+ Scene Library-19891 - Final Step Collision Loss: 0.0227, Room Outer Loss: 0.0006, Walkable Loss: 2.8628 (Center Penalty: 0.8876, C1 Heatmap: 0.8055, C2 Repulsion: 6.6542), Relational Loss: 0.0287
354
+ Scene Library-7168 - Final Step Collision Loss: 0.0141, Room Outer Loss: 0.1460, Walkable Loss: 1.4263 (Center Penalty: 0.5908, C1 Heatmap: 0.4510, C2 Repulsion: 2.3735), Relational Loss: 0.0254
355
+ Scene Library-17832 - Final Step Collision Loss: 0.1453, Room Outer Loss: 0.2984, Walkable Loss: 3.0664 (Center Penalty: 0.8298, C1 Heatmap: 1.2357, C2 Repulsion: 6.2407), Relational Loss: 0.0675
356
+ Scene Library-25138 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9748 (Center Penalty: 0.8298, C1 Heatmap: 0.1193, C2 Repulsion: 0.2478), Relational Loss: 0.0250
357
+ Scene Library-36052 - Final Step Collision Loss: 0.1392, Room Outer Loss: 5.4954, Walkable Loss: 3.9972 (Center Penalty: 1.5338, C1 Heatmap: 1.5793, C2 Repulsion: 6.0000), Relational Loss: 0.1304
358
+ Scene Library-40642 - Final Step Collision Loss: 0.0010, Room Outer Loss: 0.0000, Walkable Loss: 1.3931 (Center Penalty: 0.9785, C1 Heatmap: 0.2598, C2 Repulsion: 1.0343), Relational Loss: 0.0117
359
+ Scene Library-58697 - Final Step Collision Loss: 0.0028, Room Outer Loss: 0.0000, Walkable Loss: 1.4641 (Center Penalty: 0.7032, C1 Heatmap: 0.4151, C2 Repulsion: 2.1437), Relational Loss: 0.0300
360
+ Scene Library-145994 - Final Step Collision Loss: 0.1280, Room Outer Loss: 0.3293, Walkable Loss: 5.4567 (Center Penalty: 1.7986, C1 Heatmap: 1.4700, C2 Repulsion: 12.4107), Relational Loss: 0.0339
361
+ Scene Library-39529 - Final Step Collision Loss: 0.1348, Room Outer Loss: 0.1717, Walkable Loss: 1.5111 (Center Penalty: 0.8097, C1 Heatmap: 0.3488, C2 Repulsion: 2.1119), Relational Loss: 0.0131
362
+ Scene Library-56351 - Final Step Collision Loss: 0.2425, Room Outer Loss: 2.6416, Walkable Loss: 3.6510 (Center Penalty: 1.4875, C1 Heatmap: 1.5024, C2 Repulsion: 4.8077), Relational Loss: 0.0606
363
+ Scene Library-5406 - Final Step Collision Loss: 0.0063, Room Outer Loss: 0.0354, Walkable Loss: 3.0876 (Center Penalty: 1.8313, C1 Heatmap: 0.4739, C2 Repulsion: 4.3857), Relational Loss: 0.0325
364
+ Scene Library-51220 - Final Step Collision Loss: 0.0756, Room Outer Loss: 0.0817, Walkable Loss: 2.2433 (Center Penalty: 1.5268, C1 Heatmap: 0.3912, C2 Repulsion: 2.0179), Relational Loss: 0.0310
365
+ Scene Library-5781 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0387, Walkable Loss: 1.5833 (Center Penalty: 1.0722, C1 Heatmap: 0.3085, C2 Repulsion: 1.3210), Relational Loss: 0.0026
366
+ Scene Library-123334 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2913, Walkable Loss: 3.5707 (Center Penalty: 2.1479, C1 Heatmap: 0.8799, C2 Repulsion: 3.5942), Relational Loss: 0.0224
367
+ Scene Library-1511 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8372 (Center Penalty: 1.5183, C1 Heatmap: 0.2254, C2 Repulsion: 0.6932), Relational Loss: 0.0000
368
+ Scene Library-74566 - Final Step Collision Loss: 0.0509, Room Outer Loss: 0.4644, Walkable Loss: 3.1236 (Center Penalty: 1.9547, C1 Heatmap: 0.7665, C2 Repulsion: 2.7783), Relational Loss: 0.1018
369
+ Scene Library-35695 - Final Step Collision Loss: 0.0151, Room Outer Loss: 0.0286, Walkable Loss: 2.4298 (Center Penalty: 0.7586, C1 Heatmap: 0.7121, C2 Repulsion: 5.5077), Relational Loss: 0.0373
370
+ Scene Library-934 - Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0030, Walkable Loss: 2.2346 (Center Penalty: 1.2671, C1 Heatmap: 0.6982, C2 Repulsion: 2.0448), Relational Loss: 0.0238
current_works_v2/work_37_sizefix/2050/none_accuracy_analysis.txt ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ acc & L/R: 0.98 & F/B: 0.97 & Bi/Sm: 0.95 & Ta/Sh: 0.95 & Stand: 0.94 & Close: 0.58 & Symm: 0.39. Total: &0.94
2
+ means of mean: 0.82
3
+
current_works_v2/work_37_sizefix/2050/physcene_collision_input.json ADDED
The diff for this file is too large to render. See raw diff
 
current_works_v2/work_37_sizefix/2050/physcene_collision_resolved.json ADDED
The diff for this file is too large to render. See raw diff
 
current_works_v2/work_37_sizefix/args.json ADDED
@@ -0,0 +1,31 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "batchSize": 60,
3
+ "nepoch": 10000,
4
+ "outf": "checkpoint",
5
+ "model": "",
6
+ "dataset": "/home/lehoangan/LHAN/SteerScene/echoscene_sizefix/FRONT",
7
+ "logf": "logs",
8
+ "exp": "/home/lehoangan/LHAN/SteerScene/echoscene_sizefix/exp_work37_sizefix",
9
+ "room_type": "all",
10
+ "residual": true,
11
+ "pooling": "avg",
12
+ "large": false,
13
+ "use_scene_rels": true,
14
+ "separated": false,
15
+ "with_SDF": true,
16
+ "with_CLIP": true,
17
+ "shuffle_objs": true,
18
+ "use_canonical": true,
19
+ "with_angles": true,
20
+ "bin_angle": false,
21
+ "num_box_params": 6,
22
+ "workers": 10,
23
+ "with_changes": true,
24
+ "loadmodel": false,
25
+ "loadepoch": 90,
26
+ "replace_latent": true,
27
+ "network_type": "echoscene",
28
+ "diff_yaml": "/home/lehoangan/LHAN/SteerScene/echoscene_sizefix/code/config/work37_sizefix.yaml",
29
+ "vis_num": 2,
30
+ "manualSeed": 8886
31
+ }
current_works_v2/work_37_sizefix/eval/pp_col.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ===========================================================================
2
+ PHYSICAL SCENE COLLISION EVALUATION (Col Scene & Col Obj)
3
+ ===========================================================================
4
+ Target File : /Volumes/SPINNINGHDD/current_works_v2/work_37_sizefix/2050/physcene_collision_resolved.json
5
+ Overall ColObj (Object Collision Rate) : 0.0335 (85/2535 objects)
6
+ Overall ColScene (Scene Collision Rate) : 0.0973 (36/370 scenes)
7
+ ---------------------------------------------------------------------------
8
+ Category | ColObj | ColScene | Collided Scenes / Total
9
+ ---------------------------------------------------------------------------
10
+ bedroom | 0.0739 | 0.1463 | 6/41
11
+ diningroom | 0.0037 | 0.0145 | 1/69
12
+ library | 0.0814 | 0.1607 | 9/56
13
+ livingdiningroom | 0.0050 | 0.0323 | 1/31
14
+ livingroom | 0.0060 | 0.0192 | 1/52
15
+ masterbedroom | 0.0524 | 0.1159 | 8/69
16
+ secondbedroom | 0.0880 | 0.1923 | 10/52
17
+ ===========================================================================
current_works_v2/work_37_sizefix/eval/pp_ob.txt ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ Total number of scenes: 370 (processed 370)
2
+ Total OB objects: 110
3
+ Total furniture objects: 2527
4
+ Average #OB per scene: 0.2973
5
+ OB Object Rate (tot_ob / tot_obj): 0.0435
current_works_v2/work_37_sizefix/eval/pp_rel.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Wrote report to: /Volumes/SPINNINGHDD/current_works_v2/work_37_sizefix/2050/relational_accuracy_report.txt
2
+ ===========================================================================
3
+ RELATIONAL ACCURACY EVALUATION REPORT
4
+ ===========================================================================
5
+ Source File : /Volumes/SPINNINGHDD/current_works_v2/work_37_sizefix/2050/physcene_collision_resolved.json
6
+ Evaluated Scenes : 370 / 370
7
+ Micro-Average Accuracy (Total Acc) : 94.23%
8
+ Macro-Average Accuracy (Means of Means): 81.91%
9
+ ---------------------------------------------------------------------------
10
+ Left / Right (L/R) : 98.02% (Left: 98.00%, Right: 98.04%)
11
+ Front / Behind (F/B) : 97.69% (Front: 98.01%, Behind: 97.37%)
12
+ Bigger / Smaller (Bi/Sm) : 95.27% (Bigger: 95.34%, Smaller: 95.21%)
13
+ Taller / Shorter (Ta/Sh) : 95.35% (Taller: 95.26%, Shorter: 95.44%)
14
+ Standing On : 94.30%
15
+ Close By : 59.13%
16
+ Symmetrical To : 33.62%
17
+ ===========================================================================
current_works_v2/work_37_sizefix/eval/raw_col.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ ===========================================================================
2
+ PHYSICAL SCENE COLLISION EVALUATION (Col Scene & Col Obj)
3
+ ===========================================================================
4
+ Target File : /Volumes/SPINNINGHDD/current_works_v2/work_37_sizefix/2050/physcene_collision_input.json
5
+ Overall ColObj (Object Collision Rate) : 0.4138 (1049/2535 objects)
6
+ Overall ColScene (Scene Collision Rate) : 0.7459 (276/370 scenes)
7
+ ---------------------------------------------------------------------------
8
+ Category | ColObj | ColScene | Collided Scenes / Total
9
+ ---------------------------------------------------------------------------
10
+ bedroom | 0.3793 | 0.6341 | 26/41
11
+ diningroom | 0.4505 | 0.9420 | 65/69
12
+ library | 0.3837 | 0.6071 | 34/56
13
+ livingdiningroom | 0.3819 | 0.9355 | 29/31
14
+ livingroom | 0.3976 | 0.7692 | 40/52
15
+ masterbedroom | 0.4162 | 0.6667 | 46/69
16
+ secondbedroom | 0.4720 | 0.6923 | 36/52
17
+ ===========================================================================
current_works_v2/work_37_sizefix/eval/raw_ob.txt ADDED
@@ -0,0 +1,5 @@
 
 
 
 
 
 
1
+ Total number of scenes: 370 (processed 370)
2
+ Total OB objects: 422
3
+ Total furniture objects: 2527
4
+ Average #OB per scene: 1.1405
5
+ OB Object Rate (tot_ob / tot_obj): 0.1670
current_works_v2/work_37_sizefix/eval/raw_rel.txt ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Wrote report to: /Volumes/SPINNINGHDD/current_works_v2/work_37_sizefix/2050/relational_accuracy_report.txt
2
+ ===========================================================================
3
+ RELATIONAL ACCURACY EVALUATION REPORT
4
+ ===========================================================================
5
+ Source File : /Volumes/SPINNINGHDD/current_works_v2/work_37_sizefix/2050/physcene_collision_input.json
6
+ Evaluated Scenes : 370 / 370
7
+ Micro-Average Accuracy (Total Acc) : 94.15%
8
+ Macro-Average Accuracy (Means of Means): 82.43%
9
+ ---------------------------------------------------------------------------
10
+ Left / Right (L/R) : 98.01% (Left: 97.91%, Right: 98.11%)
11
+ Front / Behind (F/B) : 97.40% (Front: 97.53%, Behind: 97.27%)
12
+ Bigger / Smaller (Bi/Sm) : 95.27% (Bigger: 95.34%, Smaller: 95.21%)
13
+ Taller / Shorter (Ta/Sh) : 95.35% (Taller: 95.26%, Shorter: 95.44%)
14
+ Standing On : 94.30%
15
+ Close By : 57.90%
16
+ Symmetrical To : 38.79%
17
+ ===========================================================================
current_works_v2/work_37_sizefix/run.log ADDED
The diff for this file is too large to render. See raw diff
 
current_works_v2/work_37_sizefix/vis_2050.zip ADDED
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+ oid sha256:e289a359bce0656e9b2b496d8bf7385221b6bbf3c852fbfa8f4640a168135c55
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+ size 1453953023
current_works_v2/work_37_sizefix/work37_sizefix.yaml ADDED
@@ -0,0 +1,130 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # work37 config pinned from git history, plus the size-freeze fix.
2
+ hyper:
3
+ batch_size: 16
4
+ gpu_ids: 0
5
+ logs_dir: ../full_mp/diff_crossattn
6
+ results_dir: ../full_mp/diff_crossattn
7
+ name: ./
8
+ isTrain: True
9
+ device: 'cuda'
10
+ distributed: 0
11
+ lr_init: 1e-4
12
+ lr_step: [35000, 70000, 140000]
13
+ lr_evo: [5e-5, 1e-5, 5e-6]
14
+ dataset:
15
+ res: 64
16
+ trunc_thres: 0.2
17
+ ratio: 1
18
+
19
+ layout_branch:
20
+ model: diffusion_scene_layout_ddpm
21
+ angle_dim: 2
22
+ denoiser: unet1d
23
+ relation_condition: true
24
+ denoiser_kwargs:
25
+ dims: 1 # 1D
26
+ in_channels: 8 # size(3)+loc(3)+sincos(2)
27
+ out_channels: 8 # same
28
+ model_channels: 512
29
+ channel_mult: [ 1,1,1,1]
30
+ num_res_blocks: 2
31
+ attention_resolutions: [ 4, 2 ]
32
+ num_heads: 8
33
+ # cond_model params
34
+ use_spatial_transformer: true
35
+ transformer_depth: 1
36
+ conditioning_key: 'crossattn'
37
+ concat_dim: 1280
38
+ crossattn_dim: 1280
39
+ use_checkpoint: true
40
+ enable_t_emb: true
41
+
42
+ diffusion_kwargs:
43
+ schedule_type: 'linear'
44
+ beta_start: 0.0001
45
+ beta_end: 0.02
46
+ time_num: 1000
47
+ model_mean_type: 'eps'
48
+ model_var_type: 'fixedsmall'
49
+ loss_separate: true
50
+ loss_iou: false
51
+ iou_type: obb
52
+ train_stats_file: null
53
+ inference_guidance:
54
+ enabled: true
55
+ guide_sizes: false # size-freeze fix: guidance moves/rotates boxes only
56
+ interval: 1
57
+ start_ratio: 0.90
58
+ grad_clip: 10.1
59
+ clip_to_bounds: true
60
+ constraints:
61
+ collision:
62
+ enabled: true
63
+ strength: 20.0
64
+ weight: 10.0
65
+ iou_threshold: 0.02
66
+ penetration_threshold: 0.0
67
+ iou_weight: 0.5
68
+ penetration_weight: 2.0
69
+ metric: aabb
70
+ ignore_labels: ["scene", "floor"]
71
+ room_outer:
72
+ weight: 10.0
73
+ walkable:
74
+ enabled: true
75
+ weight: 1.0 # Global scale factor for walkable guidance
76
+
77
+ # Modular sub-components configured to match real_current_best behavior:
78
+ components:
79
+ center_penalty:
80
+ enabled: true
81
+ weight: 1
82
+ sigma: 0.5
83
+
84
+ pathfinding:
85
+ enabled: false
86
+ weight: 0.1
87
+ robot_width_real: 0.5
88
+ robot_hight_real: 1.5
89
+
90
+ edge_gaussian:
91
+ enabled: true
92
+ weight: 1
93
+ robot_width_real: 0.35
94
+ robot_hight_real: 1.5
95
+ sigma_scale: 0.5
96
+ heatmap_weight: 0.8 # Component 1 (Floor Edge Heatmap)
97
+ repulsion_weight: 0.2 # Component 2 (Pairwise Furniture Repulsion)
98
+ relational:
99
+ enabled: true
100
+ weight: 10.0
101
+ start_ratio: 0.5 # Custom start ratio for relational guidance (e.g., 0.5, 0.7, 0.95; defaults to global start_ratio if omitted)
102
+ interval: 1 # Custom interval for relational guidance (e.g., 1=every step, 5=every 5th step; defaults to global interval if omitted)
103
+ margin: 0.05
104
+ close_threshold: 0.45
105
+ stand_threshold: 0.04
106
+
107
+ shape_branch:
108
+ model: sdfusion-txt2shape_mp
109
+ sampling: greedy
110
+ ckpt: null
111
+ df_cfg: ../config/sdfusion-txt2shape_mp.yaml
112
+ ddim_steps: 100
113
+ ddim_eta: 0.0
114
+ uc_scale: 3.0
115
+ vq_model: vqvae
116
+ vq_cfg: ../config/vqvae_snet.yaml
117
+ vq_dset: None
118
+ vq_cat: None
119
+ vq_ckpt: ./checkpoint/vqvae_threedfront_best.pth
120
+ misc:
121
+ debug: 0
122
+ seed: 111
123
+ backend: gloo
124
+ local_rank: 0
125
+
126
+ training:
127
+ lr: 1e-5
128
+ lr_policy: lambda
129
+ lr_decay_iters: 50
130
+ lambda_L1: 10.0