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+current_works/work_31/2050/echoscene/LivingRoom-6045_echoscene.glb filter=lfs diff=lfs merge=lfs -text +current_works/work_31/2050/echoscene/LivingRoom-68491_echoscene.glb filter=lfs diff=lfs merge=lfs -text +current_works/work_31/2050/echoscene/LivingRoom-71071_echoscene.glb filter=lfs diff=lfs merge=lfs -text +current_works/work_31/2050/echoscene/LivingRoom-791_echoscene.glb filter=lfs diff=lfs merge=lfs -text +current_works/work_31/2050/echoscene/LivingRoom-860_echoscene.glb filter=lfs diff=lfs merge=lfs -text +current_works/work_31/2050/echoscene/LivingRoom-88425_echoscene.glb filter=lfs diff=lfs merge=lfs -text diff --git a/current_works/work_31/2050/debug_bbox.txt b/current_works/work_31/2050/debug_bbox.txt new file mode 100644 index 0000000000000000000000000000000000000000..b25289e4ae7a1e1492647f356fa4f81019aa22b6 --- /dev/null +++ b/current_works/work_31/2050/debug_bbox.txt @@ -0,0 +1,11168 @@ + +============================================================ +SCENE: MasterBedroom-33296 | 9 objects +============================================================ +Final Step Collision Loss: 0.0224, Room Outer Loss: 0.5306, Walkable Loss: 3.1096 (Center Penalty: 0.9408, C1 Heatmap: 1.1482, C2 Repulsion: 6.2512), Relational Loss: 0.0318 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.124 1.049 0.475 -2.377 -0.000 -1.320 -0.01° +nightstand 0.569 0.578 0.387 0.273 -0.001 -1.335 0.08° +chair 0.478 0.446 0.515 -2.139 -0.001 -0.746 -89.92° +bed 2.028 1.454 2.179 -0.998 -0.002 -0.349 -0.02° +cabinet 0.840 1.032 0.424 -2.148 0.002 1.210 -179.99° +lamp 0.713 0.868 0.699 -1.153 1.942 0.057 -0.02° +wardrobe 3.162 2.359 0.598 0.793 -0.001 0.218 -90.11° +floor 5.895 0.001 2.944 -0.662 -0.002 0.196 -0.00° +_scene_ 0.068 -0.000 0.020 -5.671 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.197, 1.049, 0.356] + !! OVERLAP: table <-> floor depth=[1.124, 0.001, 0.194] + !! OVERLAP: nightstand <-> bed depth=[0.027, 0.578, 0.298] + !! OVERLAP: nightstand <-> floor depth=[0.569, 0.001, 0.136] + !! OVERLAP: chair <-> bed depth=[0.113, 0.446, 0.515] + !! OVERLAP: chair <-> floor depth=[0.478, 0.001, 0.515] + !! OVERLAP: bed <-> wardrobe depth=[0.804, 1.454, 0.598] + !! OVERLAP: bed <-> floor depth=[2.028, 0.001, 2.017] + !! OVERLAP: cabinet <-> floor depth=[0.840, 0.001, 0.424] + !! OVERLAP: wardrobe <-> floor depth=[3.074, 0.001, 0.598] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9404 | 8 objects +============================================================ +Final Step Collision Loss: 0.0944, Room Outer Loss: 0.7731, Walkable Loss: 3.9119 (Center Penalty: 1.3304, C1 Heatmap: 1.3581, C2 Repulsion: 7.4749), Relational Loss: 0.0397 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.267 1.384 2.057 0.604 -0.002 0.444 -89.98° +wardrobe 2.056 2.396 0.660 0.654 0.001 -1.794 -0.01° +wardrobe 2.223 2.303 0.519 0.374 -0.000 -1.280 -0.02° +nightstand 0.487 0.640 0.501 1.486 0.000 1.747 -89.98° +nightstand 0.671 0.645 0.344 1.481 0.002 -1.017 -89.95° +tv_stand 2.362 0.435 0.466 -1.421 0.001 0.504 90.01° +floor 3.663 -0.001 4.695 -0.019 -0.001 0.010 -0.00° +_scene_ 0.078 -0.001 0.024 -5.673 -0.004 -5.716 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> tv_stand depth=[0.290, 0.435, 0.466] + !! OVERLAP: bed <-> floor depth=[2.267, -0.001, 2.057] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.860, 2.303, 0.076] + !! OVERLAP: wardrobe <-> floor depth=[2.056, -0.001, 0.660] + !! OVERLAP: wardrobe <-> nightstand depth=[0.340, 0.645, 0.169] + !! OVERLAP: wardrobe <-> floor depth=[2.223, -0.001, 0.519] + !! OVERLAP: nightstand <-> floor depth=[0.487, -0.001, 0.501] + !! OVERLAP: nightstand <-> floor depth=[0.668, -0.001, 0.344] + !! OVERLAP: tv_stand <-> floor depth=[1.611, -0.001, 0.466] +============================================================ + + +============================================================ +SCENE: MasterBedroom-33296 | 9 objects +============================================================ +Final Step Collision Loss: 0.0229, Room Outer Loss: 0.4883, Walkable Loss: 1.5976 (Center Penalty: 1.0099, C1 Heatmap: 1.1556, C2 Repulsion: 6.3044), Relational Loss: 0.0317 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.125 1.049 0.475 -2.374 -0.000 -1.319 -0.01° +nightstand 0.571 0.578 0.389 0.272 -0.001 -1.332 0.08° +chair 0.480 0.446 0.517 -2.136 -0.001 -0.748 -89.92° +bed 2.030 1.454 2.181 -0.991 -0.002 -0.348 -0.02° +cabinet 0.846 1.032 0.429 -2.142 0.002 1.205 -179.99° +lamp 0.713 0.868 0.699 -1.140 1.942 0.057 -0.01° +wardrobe 3.191 2.360 0.602 0.787 -0.001 0.196 -90.11° +floor 5.889 0.001 2.938 -0.595 -0.002 0.175 -0.01° +_scene_ 0.068 -0.000 0.020 -5.671 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.195, 1.049, 0.357] + !! OVERLAP: table <-> floor depth=[1.125, 0.001, 0.213] + !! OVERLAP: nightstand <-> bed depth=[0.037, 0.578, 0.302] + !! OVERLAP: nightstand <-> floor depth=[0.571, 0.001, 0.158] + !! OVERLAP: chair <-> bed depth=[0.111, 0.446, 0.517] + !! OVERLAP: chair <-> floor depth=[0.480, 0.001, 0.517] + !! OVERLAP: bed <-> wardrobe depth=[0.832, 1.454, 0.602] + !! OVERLAP: bed <-> floor depth=[2.030, 0.001, 2.037] + !! OVERLAP: cabinet <-> floor depth=[0.846, 0.001, 0.429] + !! OVERLAP: wardrobe <-> floor depth=[3.158, 0.001, 0.602] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9404 | 8 objects +============================================================ +Final Step Collision Loss: 0.1716, Room Outer Loss: 0.7529, Walkable Loss: 2.0069 (Center Penalty: 1.4147, C1 Heatmap: 1.3410, C2 Repulsion: 7.6318), Relational Loss: 0.0371 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.182 1.403 2.077 0.500 0.000 0.448 -89.96° +wardrobe 1.884 2.362 0.550 0.464 0.000 -1.570 0.00° +wardrobe 2.210 2.325 0.584 0.334 -0.000 -1.167 -0.03° +nightstand 0.515 0.646 0.422 1.493 0.001 1.681 -89.83° +nightstand 0.770 0.622 0.310 1.462 0.003 -0.936 -90.06° +tv_stand 2.343 0.446 0.552 -1.397 0.001 0.608 89.96° +floor 3.726 -0.001 4.409 -0.052 0.001 0.020 -0.01° +_scene_ 0.067 -0.000 0.019 -5.672 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.355, 0.646, 0.016] + !! OVERLAP: bed <-> tv_stand depth=[0.365, 0.446, 0.552] + !! OVERLAP: bed <-> floor depth=[2.182, -0.001, 2.077] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.884, 2.325, 0.164] + !! OVERLAP: wardrobe <-> floor depth=[1.884, -0.001, 0.550] + !! OVERLAP: wardrobe <-> nightstand depth=[0.362, 0.622, 0.217] + !! OVERLAP: wardrobe <-> floor depth=[2.210, -0.001, 0.584] + !! OVERLAP: nightstand <-> floor depth=[0.515, -0.001, 0.422] + !! OVERLAP: nightstand <-> floor depth=[0.733, -0.001, 0.310] + !! OVERLAP: tv_stand <-> floor depth=[1.689, -0.001, 0.552] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30034 | 6 objects +============================================================ +Final Step Collision Loss: 0.0031, Room Outer Loss: 0.0171, Walkable Loss: 1.8361 (Center Penalty: 2.8112, C1 Heatmap: 0.6744, C2 Repulsion: 1.6077), Relational Loss: 0.0419 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.199 1.088 2.183 0.264 -0.001 0.114 -90.05° +nightstand 0.500 0.582 0.494 1.303 0.000 1.454 -90.02° +nightstand 0.496 0.475 0.415 1.253 0.000 -1.266 -90.06° +lamp 0.611 0.912 0.554 -0.008 2.034 0.106 0.01° +floor 3.210 -0.003 3.457 -0.006 0.000 0.005 -0.02° +_scene_ 0.069 0.002 0.020 -5.664 -0.004 -5.707 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.199, -0.003, 2.183] + !! OVERLAP: nightstand <-> floor depth=[0.500, -0.003, 0.494] + !! OVERLAP: nightstand <-> floor depth=[0.496, -0.003, 0.415] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6482 | 8 objects +============================================================ +Final Step Collision Loss: 0.0964, Room Outer Loss: 0.1950, Walkable Loss: 1.6863 (Center Penalty: 2.0172, C1 Heatmap: 0.8256, C2 Repulsion: 3.4744), Relational Loss: 0.0091 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.788 0.925 2.161 -0.549 -0.001 -0.760 0.01° +chair 0.770 0.901 0.800 -1.530 0.002 1.618 136.31° +nightstand 0.735 0.750 0.553 -1.448 0.000 -1.292 0.04° +table 0.745 0.649 0.633 -1.089 -0.001 1.693 89.92° +wardrobe 1.318 2.199 0.526 1.148 0.001 -0.547 -90.05° +lamp 0.573 0.415 0.414 -0.291 2.506 0.168 -0.05° +floor 3.476 -0.001 4.468 -0.066 -0.001 0.064 0.00° +_scene_ 0.068 0.001 0.023 -5.675 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.362, 0.750, 0.553] + !! OVERLAP: bed <-> floor depth=[1.788, -0.001, 2.161] + !! OVERLAP: chair <-> table depth=[0.317, 0.649, 0.633] + !! OVERLAP: chair <-> floor depth=[0.658, -0.001, 0.800] + !! OVERLAP: nightstand <-> floor depth=[0.723, -0.001, 0.553] + !! OVERLAP: table <-> floor depth=[0.745, -0.001, 0.633] + !! OVERLAP: wardrobe <-> floor depth=[1.182, -0.001, 0.526] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11167 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2969, Walkable Loss: 1.9903 (Center Penalty: 2.4555, C1 Heatmap: 0.7532, C2 Repulsion: 4.6132), Relational Loss: 0.0777 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.899 2.169 2.070 -0.544 0.000 0.215 89.80° +cabinet 1.209 0.930 0.437 -0.857 0.001 -1.737 0.02° +table 1.113 1.560 0.693 1.242 0.000 1.206 -90.40° +lamp 0.189 0.696 0.169 0.302 0.921 1.612 0.02° +lamp 0.723 0.795 0.696 0.036 1.822 0.216 0.04° +nightstand 0.519 0.629 0.479 -1.335 0.003 1.411 90.04° +nightstand 0.546 0.674 0.436 -1.268 0.002 -1.220 90.00° +floor 3.052 0.000 4.468 -0.009 0.000 0.049 -0.00° +_scene_ 0.070 0.001 0.023 -5.672 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.418, 0.629, 0.078] + !! OVERLAP: bed <-> floor depth=[1.899, 0.000, 2.070] + !! OVERLAP: cabinet <-> floor depth=[1.209, 0.000, 0.437] + !! OVERLAP: table <-> floor depth=[0.832, 0.000, 0.693] + !! OVERLAP: nightstand <-> floor depth=[0.459, 0.000, 0.479] + !! OVERLAP: nightstand <-> floor depth=[0.540, 0.000, 0.436] +============================================================ + + +============================================================ +SCENE: MasterBedroom-27127 | 7 objects +============================================================ +Final Step Collision Loss: 0.1424, Room Outer Loss: 0.4660, Walkable Loss: 2.0190 (Center Penalty: 2.0834, C1 Heatmap: 0.9492, C2 Repulsion: 5.9760), Relational Loss: 0.0133 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.827 0.971 2.078 -0.026 0.002 0.088 -179.98° +nightstand 0.564 0.603 0.568 -1.167 0.001 -0.207 -0.01° +nightstand 0.555 0.518 0.459 0.910 0.004 0.751 89.97° +wardrobe 2.011 2.315 0.664 -1.484 0.000 -0.236 89.95° +desk 1.353 1.155 0.713 1.402 0.001 0.348 -90.06° +floor 4.013 0.001 2.727 -0.013 -0.000 0.005 -0.06° +_scene_ 0.059 0.001 0.022 -5.669 -0.005 -5.717 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.055, 0.603, 0.568] + !! OVERLAP: bed <-> nightstand depth=[0.255, 0.518, 0.459] + !! OVERLAP: bed <-> wardrobe depth=[0.462, 0.971, 0.664] + !! OVERLAP: bed <-> desk depth=[0.161, 0.971, 0.713] + !! OVERLAP: bed <-> floor depth=[1.827, 0.001, 2.078] + !! OVERLAP: nightstand <-> wardrobe depth=[0.564, 0.603, 0.568] + !! OVERLAP: nightstand <-> floor depth=[0.564, 0.001, 0.568] + !! OVERLAP: nightstand <-> desk depth=[0.462, 0.518, 0.182] + !! OVERLAP: nightstand <-> floor depth=[0.555, 0.001, 0.459] + !! OVERLAP: wardrobe <-> floor depth=[1.541, 0.001, 0.664] + !! OVERLAP: desk <-> floor depth=[1.268, 0.001, 0.713] +============================================================ + + +============================================================ +SCENE: MasterBedroom-75552 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1796, Walkable Loss: 1.8033 (Center Penalty: 2.7673, C1 Heatmap: 0.8333, C2 Repulsion: 0.8628), Relational Loss: 0.1022 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.864 0.941 2.479 0.117 0.002 -0.331 -90.09° +wardrobe 2.213 2.509 0.656 0.347 0.002 1.689 -179.96° +lamp 0.658 0.679 0.666 -0.031 1.925 -0.183 0.02° +floor 2.700 -0.004 4.000 -0.020 0.000 -0.092 0.02° +_scene_ 0.071 0.001 0.025 -5.676 -0.004 -5.706 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.864, -0.004, 2.479] + !! OVERLAP: wardrobe <-> floor depth=[2.089, -0.004, 0.547] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19119 | 7 objects +============================================================ +Final Step Collision Loss: 0.0005, Room Outer Loss: 0.4252, Walkable Loss: 1.6574 (Center Penalty: 2.2072, C1 Heatmap: 0.8230, C2 Repulsion: 2.2458), Relational Loss: 0.0224 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.877 0.877 2.142 -0.632 0.001 0.366 89.99° +wardrobe 1.798 2.283 0.575 -0.890 -0.002 -1.339 0.03° +nightstand 0.595 0.590 0.494 -1.567 0.000 1.603 90.03° +tv_stand 1.397 0.482 0.319 1.563 0.000 0.357 -89.97° +lamp 0.830 0.743 0.829 0.000 1.938 0.165 0.01° +floor 3.780 -0.002 4.374 0.010 0.000 0.151 -0.05° +_scene_ 0.069 -0.000 0.024 -5.669 -0.004 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.301, 0.590, 0.081] + !! OVERLAP: bed <-> floor depth=[1.877, -0.002, 2.142] + !! OVERLAP: wardrobe <-> floor depth=[1.798, -0.002, 0.575] + !! OVERLAP: nightstand <-> floor depth=[0.595, -0.002, 0.494] + !! OVERLAP: tv_stand <-> floor depth=[1.035, -0.002, 0.319] +============================================================ + + +============================================================ +SCENE: Bedroom-2719 | 8 objects +============================================================ +Final Step Collision Loss: 0.5115, Room Outer Loss: 0.7852, Walkable Loss: 2.3281 (Center Penalty: 2.7137, C1 Heatmap: 1.0740, C2 Repulsion: 5.4163), Relational Loss: 0.0169 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.439 0.481 0.422 -1.326 0.001 -1.582 0.02° +bookshelf 2.884 2.247 0.571 -0.717 0.000 -0.279 89.79° +table 0.825 1.269 0.413 -1.178 0.000 1.178 89.90° +bed 1.996 0.803 2.334 -0.392 0.000 0.208 89.92° +lamp 0.444 0.581 0.445 -0.034 2.458 -0.418 -0.04° +chair 0.482 0.850 0.538 0.977 -0.000 -0.682 -90.15° +floor 3.103 -0.002 3.555 0.004 0.001 -0.046 0.01° +_scene_ 0.070 0.001 0.020 -5.673 -0.004 -5.714 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.439, -0.002, 0.422] + !! OVERLAP: bookshelf <-> bed depth=[1.996, 0.803, 0.571] + !! OVERLAP: bookshelf <-> floor depth=[2.272, -0.002, 0.571] + !! OVERLAP: table <-> bed depth=[0.624, 0.803, 0.403] + !! OVERLAP: table <-> floor depth=[0.781, -0.002, 0.413] + !! OVERLAP: bed <-> floor depth=[1.996, -0.002, 2.334] + !! OVERLAP: chair <-> floor depth=[0.482, -0.002, 0.538] +============================================================ + + +============================================================ +SCENE: Bedroom-430 | 6 objects +============================================================ +Final Step Collision Loss: 0.0371, Room Outer Loss: 0.0041, Walkable Loss: 1.9168 (Center Penalty: 2.9138, C1 Heatmap: 0.6696, C2 Repulsion: 1.9206), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.191 1.414 2.229 -0.214 -0.001 -0.081 89.89° +table 0.410 0.450 0.346 -1.221 0.002 1.015 89.95° +table 0.530 0.595 0.528 -1.067 -0.002 -1.355 0.05° +lamp 0.815 0.894 0.907 -0.120 2.071 -0.079 0.04° +floor 2.884 -0.004 3.415 -0.003 0.000 -0.013 -0.02° +_scene_ 0.126 -0.000 0.135 -5.545 0.000 -5.605 -57.48° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.293, 0.450, 0.192] + !! OVERLAP: bed <-> table depth=[0.507, 0.595, 0.104] + !! OVERLAP: bed <-> floor depth=[2.191, -0.004, 2.229] + !! OVERLAP: table <-> floor depth=[0.410, -0.004, 0.346] + !! OVERLAP: table <-> floor depth=[0.530, -0.004, 0.528] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18415 | 8 objects +============================================================ +Final Step Collision Loss: 0.0023, Room Outer Loss: 0.8090, Walkable Loss: 1.4602 (Center Penalty: 1.5939, C1 Heatmap: 0.9440, C2 Repulsion: 2.8562), Relational Loss: 0.0511 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.075 0.686 1.893 -0.540 0.003 0.626 90.07° +nightstand 0.505 0.806 0.456 -1.425 0.003 -0.578 90.04° +nightstand 0.510 0.681 0.466 -1.510 0.002 2.076 90.06° +wardrobe 2.097 2.580 0.513 -0.427 -0.001 -1.879 0.04° +tv_stand 1.853 0.433 0.471 1.343 -0.001 0.780 -90.03° +lamp 0.774 0.876 0.749 0.004 1.856 0.624 -0.02° +floor 3.314 -0.001 4.806 0.036 -0.001 0.317 -0.03° +_scene_ 0.068 -0.001 0.018 -5.674 -0.006 -5.719 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> tv_stand depth=[0.081, 0.433, 0.471] + !! OVERLAP: bed <-> floor depth=[2.075, -0.001, 1.893] + !! OVERLAP: nightstand <-> floor depth=[0.448, -0.001, 0.456] + !! OVERLAP: nightstand <-> floor depth=[0.366, -0.001, 0.466] + !! OVERLAP: wardrobe <-> floor depth=[2.097, -0.001, 0.463] + !! OVERLAP: tv_stand <-> floor depth=[1.277, -0.001, 0.471] +============================================================ + + +============================================================ +SCENE: SecondBedroom-1145 | 6 objects +============================================================ +Final Step Collision Loss: 0.0083, Room Outer Loss: 0.1145, Walkable Loss: 1.5970 (Center Penalty: 2.3053, C1 Heatmap: 0.6524, C2 Repulsion: 1.8336), Relational Loss: 0.0732 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.078 1.072 2.259 -0.439 -0.001 -0.287 0.03° +nightstand 0.554 0.600 0.440 -1.712 0.001 -1.292 0.00° +nightstand 0.525 0.578 0.472 0.845 0.001 -1.307 0.04° +lamp 0.752 0.612 0.758 -0.371 2.438 0.079 0.01° +floor 4.212 -0.002 2.941 -0.061 -0.000 -0.010 -0.00° +_scene_ 0.068 0.001 0.017 -5.668 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.044, 0.600, 0.345] + !! OVERLAP: bed <-> nightstand depth=[0.017, 0.578, 0.346] + !! OVERLAP: bed <-> floor depth=[2.078, -0.002, 2.259] + !! OVERLAP: nightstand <-> floor depth=[0.554, -0.002, 0.409] + !! OVERLAP: nightstand <-> floor depth=[0.525, -0.002, 0.410] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2787 | 6 objects +============================================================ +Final Step Collision Loss: 0.0612, Room Outer Loss: 0.2591, Walkable Loss: 1.6809 (Center Penalty: 2.6091, C1 Heatmap: 0.5551, C2 Repulsion: 1.5434), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.692 0.845 1.779 -0.457 -0.000 -0.230 89.99° +nightstand 0.636 0.530 0.681 -1.409 0.002 -0.161 89.94° +desk 1.065 1.104 0.620 1.416 0.003 -0.183 -90.00° +lamp 0.347 0.395 0.358 -0.162 2.279 -0.098 90.21° +floor 3.352 0.001 3.064 -0.006 0.001 -0.027 -0.02° +_scene_ 0.072 0.001 0.025 -5.669 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.213, 0.530, 0.681] + !! OVERLAP: bed <-> floor depth=[1.692, 0.001, 1.779] + !! OVERLAP: nightstand <-> floor depth=[0.592, 0.001, 0.681] + !! OVERLAP: desk <-> floor depth=[0.786, 0.001, 0.620] +============================================================ + + +============================================================ +SCENE: Bedroom-87322 | 9 objects +============================================================ +Final Step Collision Loss: 0.0988, Room Outer Loss: 0.3284, Walkable Loss: 1.8999 (Center Penalty: 2.1017, C1 Heatmap: 0.9449, C2 Repulsion: 4.7112), Relational Loss: 0.0175 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.751 1.329 2.322 0.601 -0.001 -0.525 -90.02° +nightstand 0.486 0.814 0.394 1.585 0.003 0.614 -90.16° +chair 1.391 0.546 0.737 -0.000 -0.000 -1.104 -90.08° +wardrobe 1.305 2.347 0.620 1.025 0.002 1.394 -179.94° +tv_stand 1.694 0.507 0.408 -1.254 0.005 -0.991 90.07° +lamp 0.502 0.407 0.538 0.113 2.100 1.095 -0.10° +lamp 0.611 0.138 0.627 0.134 2.466 -0.537 -0.02° +floor 3.654 -0.000 3.775 0.001 -0.000 0.001 -0.02° +_scene_ 0.066 -0.001 0.020 -5.674 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.134, 0.814, 0.218] + !! OVERLAP: bed <-> chair depth=[0.970, 0.546, 0.737] + !! OVERLAP: bed <-> floor depth=[1.751, -0.000, 2.322] + !! OVERLAP: nightstand <-> floor depth=[0.486, -0.000, 0.394] + !! OVERLAP: chair <-> tv_stand depth=[0.289, 0.507, 0.408] + !! OVERLAP: chair <-> floor depth=[1.391, -0.000, 0.737] + !! OVERLAP: wardrobe <-> floor depth=[1.305, -0.000, 0.620] + !! OVERLAP: tv_stand <-> floor depth=[1.418, -0.000, 0.408] +============================================================ + + +============================================================ +SCENE: Bedroom-68718 | 7 objects +============================================================ +Final Step Collision Loss: 0.0478, Room Outer Loss: 0.2140, Walkable Loss: 2.0073 (Center Penalty: 2.6284, C1 Heatmap: 1.0313, C2 Repulsion: 2.8058), Relational Loss: 0.0536 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.507 1.716 2.473 -0.054 0.000 -0.398 0.04° +nightstand 0.526 0.569 0.349 -1.194 0.001 -1.517 0.02° +nightstand 0.595 0.566 0.479 1.125 0.001 -1.413 0.01° +wardrobe 2.268 2.345 0.630 -0.062 0.000 1.436 -180.00° +lamp 0.859 1.260 0.865 -0.026 1.498 -0.201 0.01° +floor 3.340 -0.000 3.364 -0.005 -0.000 0.013 -0.01° +_scene_ 0.074 -0.001 0.024 -5.669 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.376, 0.569, 0.293] + !! OVERLAP: bed <-> nightstand depth=[0.373, 0.566, 0.462] + !! OVERLAP: bed <-> floor depth=[2.507, -0.000, 2.473] + !! OVERLAP: nightstand <-> floor depth=[0.526, -0.000, 0.327] + !! OVERLAP: nightstand <-> floor depth=[0.595, -0.000, 0.479] + !! OVERLAP: wardrobe <-> floor depth=[2.268, -0.000, 0.574] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35821 | 8 objects +============================================================ +Final Step Collision Loss: 0.2234, Room Outer Loss: 0.6556, Walkable Loss: 2.3672 (Center Penalty: 2.9999, C1 Heatmap: 1.0193, C2 Repulsion: 4.5947), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.893 1.111 2.230 -0.681 -0.001 -0.212 89.92° +nightstand 0.513 0.547 0.404 -1.612 0.002 1.129 90.00° +nightstand 0.584 0.518 0.465 -1.543 0.002 -1.040 89.95° +tv_stand 1.843 0.347 0.326 1.601 -0.001 -0.084 -90.00° +lamp 0.981 0.753 0.956 -0.059 1.753 -0.018 0.00° +chair 1.576 0.855 1.276 -0.249 -0.001 0.425 90.09° +floor 3.779 -0.002 3.469 -0.067 0.000 -0.000 0.00° +_scene_ 0.069 0.000 0.020 -5.675 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.377, 0.518, 0.465] + !! OVERLAP: bed <-> chair depth=[1.302, 0.855, 1.117] + !! OVERLAP: bed <-> floor depth=[1.893, -0.002, 2.230] + !! OVERLAP: nightstand <-> floor depth=[0.513, -0.002, 0.404] + !! OVERLAP: nightstand <-> floor depth=[0.584, -0.002, 0.465] + !! OVERLAP: tv_stand <-> floor depth=[1.142, -0.002, 0.326] + !! OVERLAP: chair <-> floor depth=[1.576, -0.002, 1.276] +============================================================ + + +============================================================ +SCENE: Bedroom-18055 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0212, Walkable Loss: 1.4240 (Center Penalty: 1.6119, C1 Heatmap: 0.7888, C2 Repulsion: 3.0252), Relational Loss: 0.0316 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.856 1.034 2.147 0.407 0.000 -0.406 -90.03° +wardrobe 2.142 2.415 0.572 0.348 0.001 2.122 -179.99° +nightstand 0.525 0.521 0.487 1.145 -0.001 0.947 -90.14° +nightstand 0.479 0.582 0.470 0.988 0.001 -1.651 -90.05° +lamp 0.769 0.776 0.229 0.802 1.873 0.883 5.05° +lamp 0.312 0.771 0.343 0.947 1.724 -1.272 -0.05° +floor 2.862 -0.001 4.663 0.001 0.001 0.029 -0.01° +_scene_ 0.075 0.001 0.024 -5.671 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.479, 0.582, 0.064] + !! OVERLAP: bed <-> floor depth=[1.856, -0.001, 2.147] + !! OVERLAP: wardrobe <-> floor depth=[2.142, -0.001, 0.524] + !! OVERLAP: nightstand <-> floor depth=[0.525, -0.001, 0.487] + !! OVERLAP: nightstand <-> floor depth=[0.479, -0.001, 0.470] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19262 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1348, Walkable Loss: 1.4116 (Center Penalty: 1.7385, C1 Heatmap: 0.9390, C2 Repulsion: 1.6671), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.097 0.955 2.135 -0.473 0.000 0.654 -179.96° +tv_stand 2.372 0.627 0.567 -0.603 0.001 -1.331 0.02° +wardrobe 1.326 2.339 0.655 1.435 -0.001 0.768 -90.09° +lamp 0.581 0.818 0.540 -0.478 1.834 0.447 179.83° +floor 4.251 -0.003 3.678 -0.053 -0.001 -0.086 -0.03° +_scene_ 0.068 0.002 0.018 -5.669 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.097, -0.003, 2.135] + !! OVERLAP: tv_stand <-> floor depth=[2.372, -0.003, 0.567] + !! OVERLAP: wardrobe <-> floor depth=[1.301, -0.003, 0.655] +============================================================ + + +============================================================ +SCENE: Bedroom-12864 | 7 objects +============================================================ +Final Step Collision Loss: 0.0062, Room Outer Loss: 1.0622, Walkable Loss: 1.9126 (Center Penalty: 2.5256, C1 Heatmap: 0.9175, C2 Repulsion: 2.8274), Relational Loss: 0.0895 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.594 2.242 0.574 1.310 -0.001 0.087 -90.09° +bed 1.943 1.000 2.184 -0.461 0.001 -0.052 89.94° +nightstand 0.640 0.488 0.488 -1.326 0.002 -1.272 89.98° +nightstand 0.568 0.503 0.491 -1.414 0.002 1.095 90.03° +lamp 0.464 0.885 0.451 -0.138 1.930 -0.241 -0.05° +floor 3.289 -0.001 3.448 0.002 0.000 0.010 -0.02° +_scene_ 0.068 0.000 0.020 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.497, 1.000, 0.574] + !! OVERLAP: wardrobe <-> floor depth=[1.633, -0.001, 0.574] + !! OVERLAP: bed <-> nightstand depth=[0.426, 0.488, 0.116] + !! OVERLAP: bed <-> nightstand depth=[0.302, 0.503, 0.190] + !! OVERLAP: bed <-> floor depth=[1.943, -0.001, 2.184] + !! OVERLAP: nightstand <-> floor depth=[0.637, -0.001, 0.488] + !! OVERLAP: nightstand <-> floor depth=[0.513, -0.001, 0.491] +============================================================ + + +============================================================ +SCENE: SecondBedroom-266050 | 6 objects +============================================================ +Final Step Collision Loss: 0.0402, Room Outer Loss: 0.0472, Walkable Loss: 1.2745 (Center Penalty: 1.2857, C1 Heatmap: 0.8907, C2 Repulsion: 2.7541), Relational Loss: 0.0738 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.651 0.682 0.963 1.051 0.001 -0.219 0.04° +bed 2.094 1.178 2.332 -0.876 -0.001 0.304 89.93° +nightstand 0.521 0.730 0.437 -1.623 0.003 -1.320 90.04° +nightstand 0.647 0.593 0.464 -1.668 0.002 1.687 90.01° +floor 3.770 -0.002 4.421 0.008 -0.000 0.006 0.01° +_scene_ 0.080 0.000 0.027 -5.668 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.651, -0.002, 0.963] + !! OVERLAP: bed <-> nightstand depth=[0.579, 0.593, 0.015] + !! OVERLAP: bed <-> floor depth=[2.048, -0.002, 2.332] + !! OVERLAP: nightstand <-> floor depth=[0.515, -0.002, 0.437] + !! OVERLAP: nightstand <-> floor depth=[0.532, -0.002, 0.464] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12352 | 6 objects +============================================================ +Final Step Collision Loss: 0.0412, Room Outer Loss: 0.0846, Walkable Loss: 1.6820 (Center Penalty: 2.4705, C1 Heatmap: 0.6416, C2 Repulsion: 1.9008), Relational Loss: 0.0685 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.165 0.879 2.103 -0.386 0.001 0.069 89.85° +nightstand 0.573 0.684 0.374 -1.206 0.001 -0.983 90.01° +nightstand 0.560 0.687 0.425 -1.262 0.001 1.371 90.01° +lamp 0.924 0.854 0.379 0.028 1.892 0.443 -0.02° +floor 2.951 -0.002 4.257 -0.010 0.001 -0.024 -0.02° +_scene_ 0.069 -0.001 0.020 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.549, 0.684, 0.187] + !! OVERLAP: bed <-> floor depth=[2.165, -0.002, 2.103] + !! OVERLAP: nightstand <-> floor depth=[0.565, -0.002, 0.374] + !! OVERLAP: nightstand <-> floor depth=[0.503, -0.002, 0.425] +============================================================ + + +============================================================ +SCENE: MasterBedroom-7894 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0007, Walkable Loss: 1.5544 (Center Penalty: 2.0289, C1 Heatmap: 0.9153, C2 Repulsion: 1.7386), Relational Loss: 0.0387 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.846 0.845 2.251 -0.333 -0.000 0.731 89.95° +nightstand 0.678 0.563 0.562 -1.260 -0.000 2.027 90.02° +lamp 0.913 0.946 0.335 -0.055 1.948 0.322 89.95° +wardrobe 2.894 2.600 0.596 0.264 -0.002 -1.226 0.02° +floor 3.358 -0.002 4.491 0.156 -0.001 0.180 -0.04° +_scene_ 0.070 0.002 0.019 -5.673 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.335, 0.563, 0.110] + !! OVERLAP: bed <-> floor depth=[1.846, -0.002, 2.251] + !! OVERLAP: nightstand <-> floor depth=[0.603, -0.002, 0.562] + !! OVERLAP: wardrobe <-> floor depth=[2.894, -0.002, 0.596] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118594 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5995, Walkable Loss: 1.7976 (Center Penalty: 2.1554, C1 Heatmap: 1.2054, C2 Repulsion: 2.3767), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.642 0.521 0.639 0.370 2.340 -0.202 0.00° +bed 2.212 1.155 2.173 0.632 0.000 -0.386 -89.96° +bookshelf 3.932 2.610 0.445 -0.202 0.002 1.293 -180.00° +wardrobe 1.652 1.910 0.566 -1.284 -0.002 -0.724 89.96° +floor 3.695 -0.000 4.311 -0.027 0.001 0.005 -0.02° +_scene_ 0.071 0.000 0.024 -5.669 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.017, 1.155, 0.566] + !! OVERLAP: bed <-> floor depth=[2.212, -0.000, 2.173] + !! OVERLAP: bookshelf <-> floor depth=[3.639, -0.000, 0.445] + !! OVERLAP: wardrobe <-> floor depth=[1.417, -0.000, 0.566] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6399 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0210, Walkable Loss: 2.0483 (Center Penalty: 2.8190, C1 Heatmap: 0.7011, C2 Repulsion: 3.5836), Relational Loss: 0.0302 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.254 2.326 0.545 1.430 0.006 -0.400 -90.18° +bed 1.625 0.897 2.144 -0.056 0.002 -0.276 0.01° +table 1.107 1.335 0.452 -1.491 -0.000 -1.238 0.01° +chair 0.614 0.481 0.587 -1.418 0.001 -0.462 179.80° +lamp 0.663 0.608 0.657 -0.191 2.042 -0.017 0.01° +floor 4.286 -0.002 2.876 -0.034 -0.001 -0.011 -0.05° +_scene_ 0.065 0.000 0.021 -5.667 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.254, -0.002, 0.545] + !! OVERLAP: bed <-> floor depth=[1.625, -0.002, 2.144] + !! OVERLAP: table <-> floor depth=[1.107, -0.002, 0.437] + !! OVERLAP: chair <-> floor depth=[0.614, -0.002, 0.587] +============================================================ + + +============================================================ +SCENE: SecondBedroom-52584 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6670 (Center Penalty: 2.7074, C1 Heatmap: 0.6095, C2 Repulsion: 0.6952), Relational Loss: 0.0818 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.144 0.964 1.135 -0.004 1.979 -0.133 -0.00° +bed 1.880 1.272 2.334 0.195 -0.000 0.290 -89.98° +table 0.666 0.658 0.454 1.135 0.001 -1.203 -90.04° +floor 3.074 -0.003 4.121 -0.012 0.000 0.015 -0.01° +_scene_ 0.055 0.004 0.014 -5.657 -0.004 -5.722 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.880, -0.003, 2.334] + !! OVERLAP: table <-> floor depth=[0.666, -0.003, 0.454] +============================================================ + + +============================================================ +SCENE: SecondBedroom-860 | 7 objects +============================================================ +Final Step Collision Loss: 0.0203, Room Outer Loss: 0.5119, Walkable Loss: 1.9264 (Center Penalty: 2.4297, C1 Heatmap: 0.8480, C2 Repulsion: 3.7230), Relational Loss: 0.0521 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.054 1.052 2.233 -0.181 0.003 -0.404 0.03° +nightstand 0.471 0.540 0.373 1.140 -0.000 -1.307 0.01° +nightstand 0.597 0.522 0.474 -1.473 0.001 -1.287 -0.03° +wardrobe 1.951 2.319 0.616 1.491 0.001 -0.493 -90.08° +lamp 1.039 1.042 0.853 -0.374 1.832 -0.045 0.03° +floor 4.205 0.002 3.011 -0.030 -0.003 0.013 -0.04° +_scene_ 0.069 0.001 0.022 -5.670 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.034, 0.522, 0.470] + !! OVERLAP: bed <-> wardrobe depth=[0.330, 1.052, 0.616] + !! OVERLAP: bed <-> floor depth=[2.054, 0.002, 2.205] + !! OVERLAP: nightstand <-> floor depth=[0.471, 0.002, 0.371] + !! OVERLAP: nightstand <-> floor depth=[0.597, 0.002, 0.442] + !! OVERLAP: wardrobe <-> floor depth=[1.557, 0.002, 0.616] +============================================================ + + +============================================================ +SCENE: MasterBedroom-514 | 5 objects +============================================================ +Final Step Collision Loss: 0.1905, Room Outer Loss: 0.0172, Walkable Loss: 1.7785 (Center Penalty: 2.8900, C1 Heatmap: 0.5837, C2 Repulsion: 1.0000), Relational Loss: 0.0299 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.461 0.508 0.429 0.009 0.000 0.523 90.04° +bed 1.851 1.049 2.380 0.380 0.000 -0.226 -90.05° +lamp 0.962 0.912 0.744 0.234 1.789 0.251 179.88° +floor 2.796 -0.003 3.216 0.007 0.001 -0.009 -0.00° +_scene_ 0.068 0.001 0.021 -5.672 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.461, 0.508, 0.429] + !! OVERLAP: nightstand <-> floor depth=[0.461, -0.003, 0.429] + !! OVERLAP: bed <-> floor depth=[1.851, -0.003, 2.380] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11204 | 7 objects +============================================================ +Final Step Collision Loss: 0.0191, Room Outer Loss: 0.1747, Walkable Loss: 1.6132 (Center Penalty: 1.5788, C1 Heatmap: 0.7840, C2 Repulsion: 5.1021), Relational Loss: 0.0143 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.487 1.066 2.306 -0.544 0.001 -0.307 89.88° +wardrobe 1.560 2.199 0.581 -0.740 0.001 1.467 -179.99° +nightstand 0.660 0.541 0.444 -1.339 0.001 0.930 90.00° +table 0.910 1.143 0.428 1.202 -0.000 -0.733 -90.05° +chair 0.716 0.475 0.410 0.971 0.001 -0.856 89.87° +floor 3.263 -0.003 3.427 -0.017 0.001 0.025 -0.00° +_scene_ 0.065 0.001 0.014 -5.674 -0.006 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.279, 0.541, 0.137] + !! OVERLAP: bed <-> floor depth=[1.487, -0.003, 2.306] + !! OVERLAP: wardrobe <-> floor depth=[1.560, -0.003, 0.563] + !! OVERLAP: nightstand <-> floor depth=[0.640, -0.003, 0.444] + !! OVERLAP: table <-> chair depth=[0.581, 0.475, 0.296] + !! OVERLAP: table <-> floor depth=[0.867, -0.003, 0.428] + !! OVERLAP: chair <-> floor depth=[0.716, -0.003, 0.410] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4089 | 7 objects +============================================================ +Final Step Collision Loss: 0.0062, Room Outer Loss: 0.4244, Walkable Loss: 1.9210 (Center Penalty: 2.4677, C1 Heatmap: 0.9611, C2 Repulsion: 3.0269), Relational Loss: 0.0636 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.571 2.568 0.707 1.202 -0.002 0.261 -89.93° +nightstand 0.718 0.671 0.405 -1.425 0.001 -1.470 0.02° +nightstand 0.592 0.803 0.489 1.313 0.001 -1.371 0.00° +bed 2.252 0.655 2.057 -0.510 -0.002 -0.295 0.01° +lamp 0.340 1.113 0.319 -0.323 1.606 -0.196 0.04° +floor 3.903 -0.002 3.300 -0.040 0.001 -0.037 -0.01° +_scene_ 0.067 0.000 0.018 -5.679 -0.005 -5.722 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.699, 0.655, 0.707] + !! OVERLAP: wardrobe <-> floor depth=[1.995, -0.002, 0.707] + !! OVERLAP: nightstand <-> bed depth=[0.570, 0.655, 0.056] + !! OVERLAP: nightstand <-> floor depth=[0.718, -0.002, 0.405] + !! OVERLAP: nightstand <-> floor depth=[0.592, -0.002, 0.489] + !! OVERLAP: bed <-> floor depth=[2.252, -0.002, 2.057] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21684 | 9 objects +============================================================ +Final Step Collision Loss: 0.0086, Room Outer Loss: 0.4550, Walkable Loss: 2.1197 (Center Penalty: 2.4164, C1 Heatmap: 0.8911, C2 Repulsion: 5.5509), Relational Loss: 0.0482 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.792 0.968 2.314 0.410 0.000 -0.520 0.01° +nightstand 0.439 0.735 0.414 1.532 -0.001 -1.336 0.07° +cabinet 1.134 1.529 0.548 0.004 0.005 1.329 -179.94° +wardrobe 1.636 2.346 0.559 -1.346 -0.001 -0.725 89.93° +nightstand 0.510 0.769 0.400 -0.842 0.002 -1.420 0.02° +chair 0.576 0.758 0.571 1.400 0.004 0.894 -147.59° +lamp 0.781 0.989 0.717 0.206 1.831 0.134 -0.00° +floor 3.480 -0.000 3.244 -0.003 0.001 -0.012 -0.01° +_scene_ 0.067 0.000 0.021 -5.675 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.194, 0.758, 0.029] + !! OVERLAP: bed <-> floor depth=[1.792, -0.000, 2.272] + !! OVERLAP: nightstand <-> floor depth=[0.425, -0.000, 0.414] + !! OVERLAP: cabinet <-> floor depth=[1.134, -0.000, 0.548] + !! OVERLAP: wardrobe <-> floor depth=[1.216, -0.000, 0.559] + !! OVERLAP: nightstand <-> floor depth=[0.510, -0.000, 0.400] + !! OVERLAP: chair <-> floor depth=[0.576, -0.000, 0.571] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8497 | 6 objects +============================================================ +Final Step Collision Loss: 0.0183, Room Outer Loss: 0.1626, Walkable Loss: 1.7519 (Center Penalty: 2.6264, C1 Heatmap: 0.6690, C2 Repulsion: 1.7115), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.201 1.019 2.398 -0.351 0.004 -0.141 89.87° +nightstand 0.377 0.474 0.309 -1.327 0.001 0.961 89.97° +nightstand 0.504 0.575 0.303 -1.423 0.003 -1.528 90.10° +lamp 0.925 0.916 0.777 0.066 2.183 -0.310 0.03° +floor 3.022 -0.001 3.218 0.002 0.001 -0.089 -0.02° +_scene_ 0.066 0.001 0.020 -5.670 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.313, 0.474, 0.252] + !! OVERLAP: bed <-> floor depth=[2.201, -0.001, 2.398] + !! OVERLAP: nightstand <-> floor depth=[0.371, -0.001, 0.309] + !! OVERLAP: nightstand <-> floor depth=[0.338, -0.001, 0.303] +============================================================ + + +============================================================ +SCENE: MasterBedroom-196 | 7 objects +============================================================ +Final Step Collision Loss: 0.0383, Room Outer Loss: 0.9285, Walkable Loss: 2.0867 (Center Penalty: 2.6191, C1 Heatmap: 0.9963, C2 Repulsion: 3.7864), Relational Loss: 0.0262 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.624 0.423 0.616 0.317 2.430 0.029 -0.04° +wardrobe 2.166 2.402 0.647 -1.576 -0.002 -0.349 89.86° +bed 2.103 1.041 2.336 0.130 -0.001 -0.247 0.03° +nightstand 0.575 0.637 0.480 1.512 0.001 -1.340 0.03° +nightstand 0.707 0.605 0.518 -0.797 0.002 -1.376 -0.02° +floor 3.631 -0.002 3.582 0.023 0.000 -0.056 -0.01° +_scene_ 0.067 -0.000 0.019 -5.672 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.428, 1.041, 0.647] + !! OVERLAP: wardrobe <-> floor depth=[1.299, -0.002, 0.647] + !! OVERLAP: bed <-> nightstand depth=[0.478, 0.605, 0.299] + !! OVERLAP: bed <-> floor depth=[2.103, -0.002, 2.336] + !! OVERLAP: nightstand <-> floor depth=[0.575, -0.002, 0.480] + !! OVERLAP: nightstand <-> floor depth=[0.707, -0.002, 0.518] +============================================================ + + +============================================================ +SCENE: MasterBedroom-132469 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0461, Walkable Loss: 1.5278 (Center Penalty: 2.3327, C1 Heatmap: 0.7547, C2 Repulsion: 0.5962), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.256 0.934 2.147 0.504 -0.003 0.695 -89.98° +wardrobe 1.630 2.069 0.588 0.568 0.001 -1.704 0.05° +lamp 0.419 0.142 0.414 -0.015 2.487 0.028 -0.07° +floor 3.157 -0.002 4.106 -0.014 0.001 -0.011 0.01° +_scene_ 0.081 -0.003 0.087 -5.611 -0.005 -5.664 -57.47° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.189, -0.002, 2.147] + !! OVERLAP: wardrobe <-> floor depth=[1.630, -0.002, 0.588] +============================================================ + + +============================================================ +SCENE: MasterBedroom-104323 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0285, Walkable Loss: 1.1497 (Center Penalty: 1.6615, C1 Heatmap: 0.5491, C2 Repulsion: 0.9930), Relational Loss: 0.0514 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.804 1.230 2.243 -0.423 0.001 0.467 89.90° +lamp 0.835 1.089 0.378 -0.156 1.714 0.978 -0.04° +nightstand 0.481 0.567 0.359 -0.977 0.001 -0.667 89.95° +floor 2.809 -0.006 3.119 -0.005 -0.001 0.004 -0.05° +_scene_ 0.070 0.000 0.023 -5.669 -0.006 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.481, 0.567, 0.166] + !! OVERLAP: bed <-> floor depth=[1.804, -0.006, 2.218] + !! OVERLAP: nightstand <-> floor depth=[0.481, -0.006, 0.359] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69556 | 8 objects +============================================================ +Final Step Collision Loss: 0.0043, Room Outer Loss: 0.2315, Walkable Loss: 1.7284 (Center Penalty: 2.0656, C1 Heatmap: 0.7847, C2 Repulsion: 3.8177), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.816 1.118 2.196 0.592 0.000 -0.569 -89.96° +wardrobe 1.652 2.368 0.595 0.678 -0.001 1.439 -179.90° +table 0.329 0.545 0.290 1.372 -0.000 0.793 -89.88° +cabinet 0.912 1.712 0.474 -1.168 0.002 -1.663 90.06° +lamp 0.724 0.982 0.728 0.054 1.684 -0.274 -0.01° +table 0.423 0.580 0.453 1.307 -0.002 -1.634 -90.21° +floor 3.155 -0.000 3.997 -0.002 -0.000 0.012 -0.04° +_scene_ 0.063 0.000 0.014 -5.672 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.404, 0.580, 0.260] + !! OVERLAP: bed <-> floor depth=[1.816, -0.000, 2.196] + !! OVERLAP: wardrobe <-> floor depth=[1.652, -0.000, 0.595] + !! OVERLAP: table <-> floor depth=[0.329, -0.000, 0.290] + !! OVERLAP: cabinet <-> floor depth=[0.867, -0.000, 0.474] + !! OVERLAP: table <-> floor depth=[0.423, -0.000, 0.453] +============================================================ + + +============================================================ +SCENE: Bedroom-6993 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3437, Walkable Loss: 1.6666 (Center Penalty: 2.3988, C1 Heatmap: 0.9258, C2 Repulsion: 0.9689), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.912 0.750 2.013 -0.321 0.002 0.258 89.94° +lamp 0.963 0.933 0.144 0.212 1.864 0.359 179.86° +wardrobe 3.432 2.467 0.516 0.038 0.001 -1.349 0.08° +floor 3.050 -0.002 3.722 -0.024 0.001 0.012 -0.02° +_scene_ 0.043 0.009 0.007 -5.662 -0.003 -5.719 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.912, -0.002, 2.013] + !! OVERLAP: wardrobe <-> floor depth=[3.050, -0.002, 0.516] +============================================================ + + +============================================================ +SCENE: MasterBedroom-935 | 11 objects +============================================================ +Final Step Collision Loss: 0.0142, Room Outer Loss: 0.3649, Walkable Loss: 2.5411 (Center Penalty: 1.9638, C1 Heatmap: 1.2562, C2 Repulsion: 10.5675), Relational Loss: 0.0254 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.102 0.714 0.457 1.410 0.001 -1.165 -90.11° +lamp 0.405 0.546 0.410 0.100 2.145 0.512 -0.01° +lamp 0.952 0.933 0.825 1.281 1.790 1.770 -89.89° +lamp 1.188 1.097 0.899 1.225 1.463 -1.265 -0.00° +chair 0.449 0.863 0.505 0.656 0.001 -1.173 89.95° +bed 2.032 0.755 2.105 0.583 -0.000 0.579 -89.99° +wardrobe 2.368 2.275 0.622 0.682 -0.001 -1.742 -0.01° +tv_stand 2.065 0.682 0.414 -1.217 0.004 0.832 90.01° +nightstand 0.491 0.497 0.447 1.609 -0.000 1.631 -90.20° +floor 3.813 -0.000 4.846 0.020 0.000 0.059 -0.05° +_scene_ 0.071 0.001 0.025 -5.670 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.022, 0.714, 0.457] + !! OVERLAP: desk <-> floor depth=[1.067, -0.000, 0.457] + !! OVERLAP: lamp <-> wardrobe depth=[1.188, 0.223, 0.284] + !! OVERLAP: chair <-> floor depth=[0.449, -0.000, 0.505] + !! OVERLAP: bed <-> tv_stand depth=[0.249, 0.682, 0.414] + !! OVERLAP: bed <-> nightstand depth=[0.235, 0.497, 0.224] + !! OVERLAP: bed <-> floor depth=[2.032, -0.000, 2.105] + !! OVERLAP: wardrobe <-> floor depth=[2.368, -0.000, 0.622] + !! OVERLAP: tv_stand <-> floor depth=[1.703, -0.000, 0.414] + !! OVERLAP: nightstand <-> floor depth=[0.491, -0.000, 0.447] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2311 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4540 (Center Penalty: 2.1758, C1 Heatmap: 0.6167, C2 Repulsion: 1.1935), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.475 2.660 0.447 -0.470 0.000 -1.145 0.04° +lamp 0.719 0.684 0.733 0.192 1.905 0.444 -0.02° +bed 1.561 1.166 2.118 -0.541 0.002 0.374 -179.96° +chair 0.659 0.691 0.702 1.525 0.001 0.958 -91.07° +floor 3.945 -0.002 3.293 -0.009 0.000 -0.003 -0.01° +_scene_ 0.062 0.004 0.046 -5.621 -0.005 -5.678 -57.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.475, -0.002, 0.447] + !! OVERLAP: bed <-> floor depth=[1.561, -0.002, 2.118] + !! OVERLAP: chair <-> floor depth=[0.659, -0.002, 0.702] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69136 | 8 objects +============================================================ +Final Step Collision Loss: 0.0028, Room Outer Loss: 0.5143, Walkable Loss: 1.8637 (Center Penalty: 2.1919, C1 Heatmap: 0.9892, C2 Repulsion: 3.7204), Relational Loss: 0.0290 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.145 0.909 2.324 0.341 -0.001 0.433 180.00° +wardrobe 1.799 2.272 0.676 -1.805 -0.001 0.775 89.80° +nightstand 0.414 0.412 0.419 1.571 0.002 1.364 179.95° +nightstand 0.387 0.420 0.312 -0.838 0.002 1.382 179.89° +tv_stand 1.870 0.509 0.383 0.315 -0.000 -1.372 -0.01° +lamp 0.546 0.171 0.547 0.436 2.410 -0.030 0.00° +floor 4.527 -0.002 3.234 0.021 0.000 -0.032 -0.02° +_scene_ 0.071 -0.001 0.022 -5.671 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.050, 0.412, 0.419] + !! OVERLAP: bed <-> nightstand depth=[0.087, 0.420, 0.312] + !! OVERLAP: bed <-> floor depth=[2.145, -0.002, 2.314] + !! OVERLAP: wardrobe <-> floor depth=[1.336, -0.002, 0.676] + !! OVERLAP: nightstand <-> floor depth=[0.414, -0.002, 0.419] + !! OVERLAP: nightstand <-> floor depth=[0.387, -0.002, 0.312] + !! OVERLAP: tv_stand <-> floor depth=[1.870, -0.002, 0.383] +============================================================ + + +============================================================ +SCENE: Bedroom-47437 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3455 (Center Penalty: 1.8071, C1 Heatmap: 0.6198, C2 Repulsion: 1.9405), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.783 1.111 2.348 -0.332 0.002 0.116 89.86° +nightstand 0.497 0.654 0.478 -0.738 -0.000 1.385 0.01° +nightstand 0.566 0.585 0.497 -0.839 0.003 -1.194 89.95° +floor 3.484 -0.002 4.833 0.005 0.001 -0.017 -0.03° +_scene_ 0.057 0.006 0.010 -5.665 -0.005 -5.714 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.497, 0.654, 0.144] + !! OVERLAP: bed <-> nightstand depth=[0.566, 0.585, 0.113] + !! OVERLAP: bed <-> floor depth=[1.783, -0.002, 2.348] + !! OVERLAP: nightstand <-> floor depth=[0.497, -0.002, 0.478] + !! OVERLAP: nightstand <-> floor depth=[0.566, -0.002, 0.497] +============================================================ + + +============================================================ +SCENE: SecondBedroom-739 | 6 objects +============================================================ +Final Step Collision Loss: 0.0144, Room Outer Loss: 0.0000, Walkable Loss: 1.8524 (Center Penalty: 2.8258, C1 Heatmap: 0.6676, C2 Repulsion: 1.7243), Relational Loss: 0.0784 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.157 1.136 2.275 -0.283 0.002 0.153 89.96° +table 0.442 0.485 0.391 -1.189 -0.000 1.483 89.93° +table 0.442 0.507 0.388 -1.186 0.001 -1.129 90.03° +lamp 0.551 1.020 0.712 -0.094 1.724 0.126 0.03° +floor 3.026 -0.003 3.574 -0.013 0.001 -0.007 -0.02° +_scene_ 0.044 0.031 0.069 -5.520 -0.001 -5.521 -57.62° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.394, 0.485, 0.004] + !! OVERLAP: bed <-> table depth=[0.397, 0.507, 0.049] + !! OVERLAP: bed <-> floor depth=[2.157, -0.003, 2.275] + !! OVERLAP: table <-> floor depth=[0.442, -0.003, 0.391] + !! OVERLAP: table <-> floor depth=[0.442, -0.003, 0.388] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0024, Room Outer Loss: 0.0543, Walkable Loss: 1.7703 (Center Penalty: 2.8203, C1 Heatmap: 0.5733, C2 Repulsion: 1.3077), Relational Loss: 0.0761 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.844 1.474 2.216 0.353 -0.000 0.010 -89.94° +nightstand 0.371 0.483 0.352 1.309 0.000 1.150 -90.38° +nightstand 0.440 0.587 0.384 1.249 0.000 -1.440 -89.85° +lamp 0.860 0.553 0.844 0.011 2.293 -0.110 -0.01° +floor 2.924 -0.002 3.558 -0.006 -0.000 -0.003 -0.03° +_scene_ 0.069 0.001 0.019 -5.666 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.151, 0.483, 0.144] + !! OVERLAP: bed <-> floor depth=[1.844, -0.002, 2.216] + !! OVERLAP: nightstand <-> floor depth=[0.333, -0.002, 0.352] + !! OVERLAP: nightstand <-> floor depth=[0.427, -0.002, 0.384] +============================================================ + + +============================================================ +SCENE: SecondBedroom-22370 | 7 objects +============================================================ +Final Step Collision Loss: 0.0091, Room Outer Loss: 0.5151, Walkable Loss: 1.7150 (Center Penalty: 2.2502, C1 Heatmap: 0.7007, C2 Repulsion: 3.0959), Relational Loss: 0.0471 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.636 2.169 0.527 1.624 -0.001 0.735 -90.01° +bed 1.977 1.270 1.898 -0.489 0.010 0.464 179.99° +nightstand 0.565 0.530 0.396 1.005 0.003 1.290 179.86° +nightstand 0.405 0.503 0.314 -1.473 0.000 1.371 179.95° +lamp 0.806 0.838 0.780 -0.257 1.906 -0.050 -0.00° +floor 4.036 -0.002 3.184 -0.021 0.000 -0.083 -0.03° +_scene_ 0.065 0.000 0.017 -5.671 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.192, -0.002, 0.527] + !! OVERLAP: bed <-> nightstand depth=[0.208, 0.503, 0.199] + !! OVERLAP: bed <-> floor depth=[1.977, -0.002, 1.898] + !! OVERLAP: nightstand <-> floor depth=[0.565, -0.002, 0.396] + !! OVERLAP: nightstand <-> floor depth=[0.405, -0.002, 0.295] +============================================================ + + +============================================================ +SCENE: SecondBedroom-15551 | 5 objects +============================================================ +Final Step Collision Loss: 0.0035, Room Outer Loss: 0.0000, Walkable Loss: 1.4096 (Center Penalty: 1.7095, C1 Heatmap: 0.8981, C2 Repulsion: 1.9565), Relational Loss: 0.0548 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.951 0.869 2.215 -0.390 0.002 -0.118 89.92° +wardrobe 2.528 2.499 0.636 -0.242 0.000 1.399 179.99° +nightstand 0.543 0.537 0.433 -1.216 0.001 -1.439 90.04° +floor 3.243 -0.003 4.292 -0.030 0.001 -0.043 0.00° +_scene_ 0.073 0.001 0.024 -5.669 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.421, 0.537, 0.003] + !! OVERLAP: bed <-> floor depth=[1.951, -0.003, 2.215] + !! OVERLAP: wardrobe <-> floor depth=[2.528, -0.003, 0.636] + !! OVERLAP: nightstand <-> floor depth=[0.543, -0.003, 0.433] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13100 | 8 objects +============================================================ +Final Step Collision Loss: 0.0495, Room Outer Loss: 0.1223, Walkable Loss: 2.0861 (Center Penalty: 2.3795, C1 Heatmap: 1.1111, C2 Repulsion: 4.5182), Relational Loss: 0.0462 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.416 0.930 0.362 0.145 1.763 0.224 -0.00° +bed 2.535 1.085 2.434 0.313 -0.001 0.481 -89.98° +nightstand 0.687 0.602 0.740 1.416 -0.001 -1.220 -90.08° +nightstand 0.530 0.595 0.471 1.506 0.000 1.654 -90.12° +wardrobe 2.252 2.528 0.660 0.419 -0.001 -1.512 -0.03° +shelf 0.985 1.880 0.492 -1.308 0.004 1.664 89.96° +floor 3.405 -0.001 4.325 -0.047 0.000 0.049 -0.03° +_scene_ 0.068 0.001 0.019 -5.671 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.339, 0.595, 0.279] + !! OVERLAP: bed <-> shelf depth=[0.139, 1.085, 0.280] + !! OVERLAP: bed <-> floor depth=[2.535, -0.001, 2.434] + !! OVERLAP: nightstand <-> wardrobe depth=[0.473, 0.602, 0.409] + !! OVERLAP: nightstand <-> floor depth=[0.583, -0.001, 0.740] + !! OVERLAP: nightstand <-> floor depth=[0.414, -0.001, 0.471] + !! OVERLAP: wardrobe <-> floor depth=[2.252, -0.001, 0.660] + !! OVERLAP: shelf <-> floor depth=[0.934, -0.001, 0.492] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13841 | 5 objects +============================================================ +Final Step Collision Loss: 0.0493, Room Outer Loss: 0.4976, Walkable Loss: 1.5855 (Center Penalty: 2.0221, C1 Heatmap: 0.8736, C2 Repulsion: 2.2497), Relational Loss: 0.0295 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.595 1.063 0.886 0.556 1.271 -0.131 0.01° +bed 1.966 1.527 2.303 0.334 0.002 -0.468 -0.03° +wardrobe 1.492 1.899 1.041 -1.186 0.001 -0.378 89.61° +floor 3.081 -0.002 3.479 0.062 0.000 -0.041 -0.02° +_scene_ 0.049 0.003 0.034 -5.604 -0.003 -5.679 -57.48° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: lamp <-> bed depth=[0.595, 0.026, 0.886] + !! OVERLAP: bed <-> wardrobe depth=[0.209, 1.527, 1.041] + !! OVERLAP: bed <-> floor depth=[1.966, -0.002, 2.303] + !! OVERLAP: wardrobe <-> floor depth=[1.038, -0.002, 1.041] +============================================================ + + +============================================================ +SCENE: MasterBedroom-10364 | 8 objects +============================================================ +Final Step Collision Loss: 0.0491, Room Outer Loss: 0.0000, Walkable Loss: 1.1017 (Center Penalty: 1.1900, C1 Heatmap: 0.6620, C2 Repulsion: 2.4186), Relational Loss: 0.0244 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.956 1.189 2.277 0.933 -0.002 -0.766 -0.08° +nightstand 0.623 0.705 0.451 1.766 0.000 -1.598 0.05° +nightstand 0.534 0.601 0.446 -0.127 0.001 -1.630 -0.01° +wardrobe 0.870 1.858 0.469 -1.317 0.000 -0.830 89.92° +lamp 0.524 0.197 0.525 0.885 2.468 -0.532 -0.00° +lamp 0.500 0.556 0.395 -1.138 2.357 1.012 0.03° +floor 4.355 0.001 3.742 0.016 0.001 -0.123 -0.01° +_scene_ 0.066 0.001 0.022 -5.674 -0.006 -5.718 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.457, 0.705, 0.451] + !! OVERLAP: bed <-> nightstand depth=[0.184, 0.601, 0.446] + !! OVERLAP: bed <-> floor depth=[1.956, 0.001, 2.277] + !! OVERLAP: nightstand <-> floor depth=[0.623, 0.001, 0.451] + !! OVERLAP: nightstand <-> floor depth=[0.534, 0.001, 0.446] + !! OVERLAP: wardrobe <-> floor depth=[0.870, 0.001, 0.469] +============================================================ + + +============================================================ +SCENE: Bedroom-18 | 6 objects +============================================================ +Final Step Collision Loss: 0.0281, Room Outer Loss: 0.0000, Walkable Loss: 1.9273 (Center Penalty: 2.8845, C1 Heatmap: 0.7330, C2 Repulsion: 1.9184), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.186 1.113 2.320 0.073 0.002 -0.203 -0.00° +nightstand 0.668 0.618 0.612 1.350 0.001 -1.308 0.04° +nightstand 0.622 0.617 0.596 -1.271 0.002 -1.216 -0.07° +lamp 0.250 0.659 0.298 0.090 2.137 -0.055 -0.25° +floor 3.269 0.001 3.325 -0.005 0.001 -0.016 -0.01° +_scene_ 0.068 -0.001 0.022 -5.671 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.150, 0.618, 0.361] + !! OVERLAP: bed <-> nightstand depth=[0.060, 0.617, 0.445] + !! OVERLAP: bed <-> floor depth=[2.186, 0.001, 2.320] + !! OVERLAP: nightstand <-> floor depth=[0.614, 0.001, 0.612] + !! OVERLAP: nightstand <-> floor depth=[0.622, 0.001, 0.596] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11303 | 7 objects +============================================================ +Final Step Collision Loss: 0.1344, Room Outer Loss: 1.0434, Walkable Loss: 1.6515 (Center Penalty: 1.4530, C1 Heatmap: 1.0492, C2 Repulsion: 5.0533), Relational Loss: 0.0500 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.932 1.125 2.149 -0.519 -0.001 -0.406 0.09° +desk 1.578 0.697 0.767 -0.993 0.002 0.690 179.94° +nightstand 0.363 0.434 0.300 1.169 -0.000 0.626 -89.92° +wardrobe 1.458 2.111 0.602 1.473 0.002 0.284 -89.96° +wardrobe 1.464 2.270 0.674 1.694 -0.002 -0.944 -90.03° +floor 3.767 -0.001 3.130 -0.090 0.001 -0.018 -0.04° +_scene_ 0.063 0.000 0.020 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.280, 0.697, 0.362] + !! OVERLAP: bed <-> floor depth=[1.932, -0.001, 2.149] + !! OVERLAP: desk <-> floor depth=[1.578, -0.001, 0.767] + !! OVERLAP: nightstand <-> wardrobe depth=[0.363, 0.434, 0.110] + !! OVERLAP: nightstand <-> floor depth=[0.363, -0.001, 0.300] + !! OVERLAP: wardrobe <-> floor depth=[1.049, -0.001, 0.602] + !! OVERLAP: wardrobe <-> floor depth=[0.831, -0.001, 0.674] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1362 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0310, Walkable Loss: 2.0480 (Center Penalty: 2.5240, C1 Heatmap: 0.8303, C2 Repulsion: 4.5394), Relational Loss: 0.0383 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.959 1.447 1.978 0.567 -0.001 0.298 -89.97° +table 0.563 0.551 0.565 1.222 -0.001 -1.110 -90.00° +table 0.472 0.531 0.489 1.279 0.001 1.591 -89.77° +wardrobe 1.771 1.966 0.618 0.535 -0.001 -1.649 0.01° +lamp 0.576 0.164 0.601 0.066 2.474 0.025 -0.01° +chair 0.821 0.785 0.857 -1.114 -0.001 -0.115 48.06° +floor 3.129 -0.002 4.142 -0.006 -0.000 0.049 -0.01° +_scene_ 0.068 0.003 0.021 -5.668 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.959, -0.002, 1.978] + !! OVERLAP: table <-> wardrobe depth=[0.481, 0.551, 0.052] + !! OVERLAP: table <-> floor depth=[0.563, -0.002, 0.565] + !! OVERLAP: table <-> floor depth=[0.472, -0.002, 0.489] + !! OVERLAP: wardrobe <-> floor depth=[1.771, -0.002, 0.618] + !! OVERLAP: chair <-> floor depth=[0.821, -0.002, 0.857] +============================================================ + + +============================================================ +SCENE: SecondBedroom-34317 | 7 objects +============================================================ +Final Step Collision Loss: 0.0286, Room Outer Loss: 0.0242, Walkable Loss: 2.0095 (Center Penalty: 2.8585, C1 Heatmap: 0.8107, C2 Repulsion: 2.5591), Relational Loss: 0.0015 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.290 1.114 2.223 -0.239 -0.000 0.104 89.92° +cabinet 1.221 0.777 0.472 0.663 0.001 -1.854 0.03° +nightstand 0.557 0.747 0.403 -1.234 0.002 1.573 90.02° +nightstand 0.543 0.668 0.475 -1.238 -0.000 -0.884 89.87° +lamp 0.579 0.292 0.574 -0.016 2.258 -0.085 -0.04° +floor 3.141 -0.001 4.197 0.022 0.001 0.051 -0.01° +_scene_ 0.068 0.003 0.020 -5.666 -0.005 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.417, 0.668, 0.361] + !! OVERLAP: bed <-> floor depth=[2.290, -0.001, 2.223] + !! OVERLAP: cabinet <-> floor depth=[1.221, -0.001, 0.429] + !! OVERLAP: nightstand <-> floor depth=[0.557, -0.001, 0.403] + !! OVERLAP: nightstand <-> floor depth=[0.543, -0.001, 0.475] +============================================================ + + +============================================================ +SCENE: Bedroom-4098 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4399, Walkable Loss: 1.7502 (Center Penalty: 2.2180, C1 Heatmap: 0.8209, C2 Repulsion: 3.1286), Relational Loss: 0.0507 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.710 1.004 2.326 -0.640 -0.000 -0.289 -0.01° +nightstand 0.521 0.521 0.471 0.745 0.000 -1.322 -0.06° +nightstand 0.579 0.542 0.427 -1.834 0.001 -1.316 -0.00° +wardrobe 2.039 2.535 0.651 1.386 0.001 -0.307 -90.15° +lamp 0.570 0.320 0.554 -0.225 2.232 0.026 -0.03° +floor 4.480 -0.000 3.278 -0.225 -0.001 0.048 -0.01° +_scene_ 0.069 0.000 0.021 -5.672 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.710, -0.000, 2.326] + !! OVERLAP: nightstand <-> floor depth=[0.521, -0.000, 0.471] + !! OVERLAP: nightstand <-> floor depth=[0.579, -0.000, 0.427] + !! OVERLAP: wardrobe <-> floor depth=[1.648, -0.000, 0.651] +============================================================ + + +============================================================ +SCENE: Bedroom-5265 | 9 objects +============================================================ +Final Step Collision Loss: 0.0229, Room Outer Loss: 0.2545, Walkable Loss: 2.0627 (Center Penalty: 2.1920, C1 Heatmap: 1.0260, C2 Repulsion: 5.5631), Relational Loss: 0.0358 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.927 1.171 2.060 -0.181 0.002 0.690 179.99° +nightstand 0.484 0.497 0.411 -1.218 0.002 1.512 179.87° +nightstand 0.488 0.485 0.437 1.151 0.005 1.563 179.93° +tv_stand 1.925 0.688 0.418 -1.062 0.000 -1.546 -0.01° +tv_stand 1.921 0.717 0.408 -0.402 0.001 -1.272 -0.02° +wardrobe 1.337 2.446 0.403 1.512 0.000 0.794 -90.15° +lamp 0.562 0.654 0.573 -0.294 1.939 0.019 -0.04° +floor 4.389 -0.002 3.571 -0.128 -0.001 -0.016 -0.04° +_scene_ 0.068 -0.000 0.022 -5.676 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.168, 0.497, 0.411] + !! OVERLAP: bed <-> floor depth=[1.927, -0.002, 2.060] + !! OVERLAP: nightstand <-> floor depth=[0.484, -0.002, 0.411] + !! OVERLAP: nightstand <-> floor depth=[0.488, -0.002, 0.425] + !! OVERLAP: tv_stand <-> tv_stand depth=[1.263, 0.688, 0.138] + !! OVERLAP: tv_stand <-> floor depth=[1.925, -0.002, 0.418] + !! OVERLAP: tv_stand <-> floor depth=[1.921, -0.002, 0.408] + !! OVERLAP: wardrobe <-> floor depth=[1.223, -0.002, 0.403] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0443, Room Outer Loss: 0.1129, Walkable Loss: 1.7714 (Center Penalty: 1.9133, C1 Heatmap: 0.9079, C2 Repulsion: 4.5168), Relational Loss: 0.0317 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.012 1.194 2.332 0.474 0.002 0.188 -90.01° +nightstand 0.622 0.503 0.508 0.994 0.002 -1.344 0.06° +wardrobe 2.142 2.270 0.609 0.216 -0.002 -1.062 -0.03° +table 0.711 0.914 0.376 -1.453 0.001 0.403 90.00° +nightstand 0.449 0.528 0.412 0.184 0.002 1.238 -0.01° +lamp 0.901 0.723 0.885 -0.017 1.768 -1.179 -0.02° +lamp 0.753 0.840 0.784 0.312 2.058 1.128 -0.04° +floor 3.400 -0.001 3.695 -0.010 0.001 -0.009 -0.02° +_scene_ 0.071 0.000 0.024 -5.671 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.820, 1.194, 0.221] + !! OVERLAP: bed <-> nightstand depth=[0.449, 0.528, 0.321] + !! OVERLAP: bed <-> floor depth=[2.012, -0.001, 2.332] + !! OVERLAP: nightstand <-> wardrobe depth=[0.605, 0.503, 0.276] + !! OVERLAP: nightstand <-> floor depth=[0.622, -0.001, 0.508] + !! OVERLAP: wardrobe <-> floor depth=[2.142, -0.001, 0.609] + !! OVERLAP: table <-> floor depth=[0.613, -0.001, 0.376] + !! OVERLAP: nightstand <-> floor depth=[0.449, -0.001, 0.412] +============================================================ + + +============================================================ +SCENE: Bedroom-47481 | 7 objects +============================================================ +Final Step Collision Loss: 0.0173, Room Outer Loss: 0.0173, Walkable Loss: 1.8735 (Center Penalty: 2.4447, C1 Heatmap: 0.8030, C2 Repulsion: 3.2997), Relational Loss: 0.0384 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.969 1.058 2.085 -0.434 0.004 -0.212 89.88° +nightstand 0.386 0.467 0.332 -1.187 0.001 0.986 90.03° +wardrobe 1.987 2.330 0.605 -0.322 0.001 1.698 -179.97° +nightstand 0.580 0.498 0.450 -1.053 0.001 -1.345 90.03° +lamp 0.816 0.703 0.464 0.109 2.028 -0.401 -0.04° +floor 2.727 -0.001 3.910 -0.025 0.001 0.021 0.04° +_scene_ 0.072 0.001 0.025 -5.674 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.386, 0.467, 0.010] + !! OVERLAP: bed <-> nightstand depth=[0.580, 0.498, 0.135] + !! OVERLAP: bed <-> floor depth=[1.939, -0.001, 2.085] + !! OVERLAP: nightstand <-> floor depth=[0.386, -0.001, 0.332] + !! OVERLAP: wardrobe <-> floor depth=[1.987, -0.001, 0.581] + !! OVERLAP: nightstand <-> floor depth=[0.580, -0.001, 0.450] +============================================================ + + +============================================================ +SCENE: Bedroom-2160 | 6 objects +============================================================ +Final Step Collision Loss: 0.0948, Room Outer Loss: 0.1041, Walkable Loss: 1.7986 (Center Penalty: 2.5844, C1 Heatmap: 0.8044, C2 Repulsion: 1.8464), Relational Loss: 0.0334 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.120 2.130 2.238 0.079 0.006 0.515 -179.97° +nightstand 0.596 0.588 0.475 -0.914 0.001 1.491 179.91° +lamp 0.749 1.172 0.750 0.012 1.564 0.015 0.01° +wardrobe 1.734 2.118 0.639 0.065 -0.001 -1.370 0.04° +floor 2.624 0.002 3.430 -0.005 0.000 0.021 -0.02° +_scene_ 0.070 0.000 0.020 -5.672 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.364, 0.588, 0.381] + !! OVERLAP: bed <-> lamp depth=[0.749, 0.093, 0.750] + !! OVERLAP: bed <-> floor depth=[2.120, 0.002, 2.238] + !! OVERLAP: nightstand <-> floor depth=[0.596, 0.002, 0.475] + !! OVERLAP: wardrobe <-> floor depth=[1.734, 0.002, 0.639] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9825 | 7 objects +============================================================ +Final Step Collision Loss: 0.0671, Room Outer Loss: 0.1800, Walkable Loss: 1.7309 (Center Penalty: 2.2035, C1 Heatmap: 0.7979, C2 Repulsion: 3.0996), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.560 2.513 0.636 -0.724 0.004 1.529 -179.96° +bed 1.932 1.163 2.275 -0.415 0.001 -0.488 89.87° +table 0.514 0.539 0.446 -1.332 0.001 1.258 89.99° +table 0.540 0.566 0.520 -1.473 0.001 -1.474 90.00° +lamp 0.686 0.983 0.662 0.035 2.115 -0.302 0.02° +floor 3.114 -0.003 4.480 0.008 0.000 0.010 -0.00° +_scene_ 0.071 0.000 0.018 -5.673 -0.004 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> table depth=[0.430, 0.539, 0.270] + !! OVERLAP: wardrobe <-> floor depth=[1.560, -0.003, 0.636] + !! OVERLAP: bed <-> table depth=[0.178, 0.566, 0.410] + !! OVERLAP: bed <-> floor depth=[1.932, -0.003, 2.275] + !! OVERLAP: table <-> floor depth=[0.475, -0.003, 0.446] + !! OVERLAP: table <-> floor depth=[0.346, -0.003, 0.520] +============================================================ + + +============================================================ +SCENE: Bedroom-1989 | 7 objects +============================================================ +Final Step Collision Loss: 0.0041, Room Outer Loss: 1.3317, Walkable Loss: 2.0287 (Center Penalty: 2.3324, C1 Heatmap: 1.1120, C2 Repulsion: 4.1777), Relational Loss: 0.0182 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.816 0.822 1.844 0.568 -0.002 -0.478 -90.00° +nightstand 0.486 0.740 0.328 1.280 0.001 0.617 -89.83° +wardrobe 3.244 2.546 0.423 -0.275 -0.002 1.326 -179.85° +tv_stand 2.387 0.475 0.536 -1.065 0.007 -0.099 90.06° +lamp 0.503 0.695 0.396 -0.060 1.967 -0.246 -0.03° +floor 2.945 0.000 3.128 0.001 0.001 -0.006 -0.00° +_scene_ 0.070 0.001 0.021 -5.669 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> tv_stand depth=[0.468, 0.475, 0.536] + !! OVERLAP: bed <-> floor depth=[1.814, 0.000, 1.844] + !! OVERLAP: nightstand <-> floor depth=[0.437, 0.000, 0.328] + !! OVERLAP: wardrobe <-> floor depth=[2.818, 0.000, 0.423] + !! OVERLAP: tv_stand <-> floor depth=[1.599, 0.000, 0.536] +============================================================ + + +============================================================ +SCENE: SecondBedroom-143 | 9 objects +============================================================ +Final Step Collision Loss: 0.0088, Room Outer Loss: 0.4832, Walkable Loss: 1.8762 (Center Penalty: 1.6550, C1 Heatmap: 1.0517, C2 Repulsion: 6.2804), Relational Loss: 0.0563 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.135 2.413 0.558 -1.451 -0.000 0.059 89.99° +bed 1.719 1.035 2.263 0.156 0.001 0.428 179.98° +nightstand 0.857 0.475 0.438 1.501 0.003 1.381 179.96° +nightstand 0.635 0.530 0.548 -1.434 0.000 1.332 179.89° +cabinet 1.305 1.164 0.461 0.596 0.003 -1.340 0.05° +cabinet 1.142 1.119 0.392 -0.742 -0.000 -1.551 0.02° +shelf 0.379 1.524 0.301 1.885 -0.001 -0.908 -133.70° +floor 4.451 -0.002 3.566 0.001 -0.000 0.014 -0.05° +_scene_ 0.075 0.001 0.028 -5.665 -0.004 -5.711 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.320, 1.035, 0.558] + !! OVERLAP: wardrobe <-> floor depth=[1.840, -0.002, 0.558] + !! OVERLAP: bed <-> floor depth=[1.719, -0.002, 2.263] + !! OVERLAP: nightstand <-> floor depth=[0.857, -0.002, 0.438] + !! OVERLAP: nightstand <-> floor depth=[0.635, -0.002, 0.548] + !! OVERLAP: cabinet <-> floor depth=[1.305, -0.002, 0.461] + !! OVERLAP: cabinet <-> floor depth=[1.142, -0.002, 0.392] + !! OVERLAP: shelf <-> floor depth=[0.379, -0.002, 0.301] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13044 | 5 objects +============================================================ +Final Step Collision Loss: 0.0266, Room Outer Loss: 0.0000, Walkable Loss: 1.3855 (Center Penalty: 1.7684, C1 Heatmap: 0.7758, C2 Repulsion: 1.9097), Relational Loss: 0.0571 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.076 1.211 2.274 0.355 -0.001 0.163 -90.01° +wardrobe 1.577 2.270 0.562 0.498 0.001 -1.479 0.05° +nightstand 0.477 0.512 0.440 1.217 0.003 1.318 -90.02° +floor 3.086 -0.003 3.937 -0.037 0.001 0.010 -0.01° +_scene_ 0.069 0.001 0.019 -5.673 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.414, 0.512, 0.202] + !! OVERLAP: bed <-> floor depth=[2.076, -0.003, 2.274] + !! OVERLAP: wardrobe <-> floor depth=[1.577, -0.003, 0.562] + !! OVERLAP: nightstand <-> floor depth=[0.477, -0.003, 0.440] +============================================================ + + +============================================================ +SCENE: Bedroom-8490 | 8 objects +============================================================ +Final Step Collision Loss: 0.0044, Room Outer Loss: 0.0000, Walkable Loss: 1.8653 (Center Penalty: 2.1425, C1 Heatmap: 0.9603, C2 Repulsion: 4.0989), Relational Loss: 0.0133 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 3.272 2.541 0.634 -0.003 -0.001 -1.463 -0.02° +lamp 0.925 0.783 0.900 -0.064 2.166 0.240 0.01° +bed 1.908 0.956 1.958 -0.138 -0.001 0.783 179.91° +nightstand 0.514 0.623 0.412 1.263 -0.000 1.289 179.97° +nightstand 0.585 0.492 0.481 -1.383 0.001 1.576 179.87° +lamp 0.129 0.893 0.123 1.358 1.036 1.387 0.00° +floor 3.214 -0.000 3.686 -0.002 0.000 0.036 -0.02° +_scene_ 0.068 0.001 0.018 -5.673 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[3.214, -0.000, 0.634] + !! OVERLAP: bed <-> nightstand depth=[0.001, 0.492, 0.426] + !! OVERLAP: bed <-> floor depth=[1.908, -0.000, 1.958] + !! OVERLAP: nightstand <-> floor depth=[0.514, -0.000, 0.412] + !! OVERLAP: nightstand <-> floor depth=[0.518, -0.000, 0.481] +============================================================ + + +============================================================ +SCENE: MasterBedroom-424 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0032, Walkable Loss: 1.8471 (Center Penalty: 2.5203, C1 Heatmap: 0.8257, C2 Repulsion: 2.5665), Relational Loss: 0.0488 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.019 1.066 2.354 -0.259 0.002 0.422 89.90° +wardrobe 1.596 1.982 0.566 -0.310 -0.003 -1.863 0.21° +nightstand 0.545 0.481 0.451 -1.424 0.002 -1.063 89.98° +nightstand 0.519 0.521 0.468 -1.368 0.000 1.900 90.02° +lamp 0.601 0.143 0.581 -0.011 2.472 0.153 -0.04° +floor 3.310 -0.002 4.423 -0.011 0.002 0.007 -0.02° +_scene_ 0.069 0.001 0.019 -5.668 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.019, -0.002, 2.354] + !! OVERLAP: wardrobe <-> floor depth=[1.596, -0.002, 0.566] + !! OVERLAP: nightstand <-> floor depth=[0.515, -0.002, 0.451] + !! OVERLAP: nightstand <-> floor depth=[0.519, -0.002, 0.468] +============================================================ + + +============================================================ +SCENE: SecondBedroom-32238 | 7 objects +============================================================ +Final Step Collision Loss: 0.0304, Room Outer Loss: 0.1350, Walkable Loss: 1.1509 (Center Penalty: 1.4127, C1 Heatmap: 0.5304, C2 Repulsion: 2.3234), Relational Loss: 0.0358 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.712 1.956 1.876 0.548 0.003 0.291 -89.86° +nightstand 0.501 0.654 0.438 1.352 0.001 -0.550 -89.81° +nightstand 0.441 0.606 0.466 1.544 0.001 1.606 -89.99° +cabinet 0.384 0.510 0.335 1.494 -0.001 -1.566 -0.07° +cabinet 0.418 0.626 0.335 -1.090 0.006 -1.520 66.05° +floor 3.382 -0.001 4.038 -0.000 -0.001 -0.079 0.02° +_scene_ 0.067 0.015 0.032 -5.666 -0.005 -5.696 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.303, 0.654, 0.316] + !! OVERLAP: bed <-> floor depth=[1.712, -0.001, 1.876] + !! OVERLAP: nightstand <-> floor depth=[0.501, -0.001, 0.438] + !! OVERLAP: nightstand <-> floor depth=[0.367, -0.001, 0.466] + !! OVERLAP: cabinet <-> floor depth=[0.384, -0.001, 0.335] + !! OVERLAP: cabinet <-> floor depth=[0.418, -0.001, 0.335] +============================================================ + + +============================================================ +SCENE: SecondBedroom-258160 | 8 objects +============================================================ +Final Step Collision Loss: 0.0270, Room Outer Loss: 0.5512, Walkable Loss: 2.1097 (Center Penalty: 2.3703, C1 Heatmap: 1.0569, C2 Repulsion: 5.0174), Relational Loss: 0.0503 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.083 1.159 2.414 0.393 -0.001 -0.460 0.01° +nightstand 0.561 0.515 0.408 -0.536 0.002 -1.472 -0.03° +nightstand 0.392 0.535 0.406 1.439 0.000 -1.436 0.02° +wardrobe 2.048 2.499 0.597 -1.078 0.001 -0.551 89.91° +tv_stand 1.861 1.856 0.473 0.322 0.002 1.408 -179.95° +lamp 0.584 0.687 0.465 0.336 2.079 -0.105 0.02° +floor 3.197 -0.001 3.434 -0.002 0.001 0.007 0.01° +_scene_ 0.071 -0.000 0.012 -5.675 -0.005 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.394, 0.515, 0.398] + !! OVERLAP: bed <-> nightstand depth=[0.192, 0.535, 0.406] + !! OVERLAP: bed <-> wardrobe depth=[0.594, 1.159, 0.597] + !! OVERLAP: bed <-> floor depth=[2.083, -0.001, 2.414] + !! OVERLAP: nightstand <-> floor depth=[0.561, -0.001, 0.408] + !! OVERLAP: nightstand <-> floor depth=[0.353, -0.001, 0.406] + !! OVERLAP: wardrobe <-> floor depth=[1.546, -0.001, 0.597] + !! OVERLAP: tv_stand <-> floor depth=[1.861, -0.001, 0.473] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19232 | 6 objects +============================================================ +Final Step Collision Loss: 0.0061, Room Outer Loss: 0.0000, Walkable Loss: 1.6674 (Center Penalty: 2.5109, C1 Heatmap: 0.6007, C2 Repulsion: 1.7166), Relational Loss: 0.0323 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.920 1.294 2.326 -0.423 0.003 -0.184 89.87° +nightstand 0.428 0.522 0.370 -1.234 0.001 1.238 90.01° +nightstand 0.476 0.455 0.434 -1.216 0.004 -1.292 90.00° +lamp 0.593 0.357 0.582 0.022 2.229 -0.292 0.00° +floor 3.505 -0.003 4.242 -0.020 0.000 -0.122 -0.01° +_scene_ 0.070 0.001 0.022 -5.671 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.405, 0.455, 0.272] + !! OVERLAP: bed <-> floor depth=[1.920, -0.003, 2.326] + !! OVERLAP: nightstand <-> floor depth=[0.428, -0.003, 0.370] + !! OVERLAP: nightstand <-> floor depth=[0.476, -0.003, 0.434] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6685 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1578 (Center Penalty: 1.5570, C1 Heatmap: 0.7387, C2 Repulsion: 0.8384), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.521 2.188 0.682 -0.012 0.001 1.200 -179.96° +bed 2.287 0.955 1.955 -0.070 0.006 -0.770 89.92° +lamp 0.689 0.419 0.658 0.122 2.141 -1.026 -0.06° +floor 2.565 -0.002 4.359 0.036 -0.000 0.001 0.02° +_scene_ 0.067 0.003 0.019 -5.660 -0.005 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.521, -0.002, 0.682] + !! OVERLAP: bed <-> floor depth=[2.287, -0.002, 1.955] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24334 | 7 objects +============================================================ +Final Step Collision Loss: 0.1363, Room Outer Loss: 1.1992, Walkable Loss: 2.1064 (Center Penalty: 2.5865, C1 Heatmap: 1.0484, C2 Repulsion: 3.9374), Relational Loss: 0.0778 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.495 0.514 0.426 1.462 0.001 -1.356 0.02° +desk 1.444 1.537 0.650 -0.041 -0.000 -1.192 0.01° +wardrobe 2.781 2.393 0.627 -1.461 -0.003 -0.224 89.95° +lamp 0.646 0.503 0.644 0.110 2.210 0.026 -0.02° +bed 1.761 0.941 2.259 0.503 -0.002 -0.226 -0.08° +floor 3.434 -0.001 3.367 -0.015 0.001 -0.039 -0.02° +_scene_ 0.065 0.000 0.020 -5.675 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.169, 0.514, 0.213] + !! OVERLAP: nightstand <-> floor depth=[0.488, -0.001, 0.426] + !! OVERLAP: desk <-> bed depth=[1.058, 0.941, 0.488] + !! OVERLAP: desk <-> floor depth=[1.444, -0.001, 0.650] + !! OVERLAP: wardrobe <-> bed depth=[0.307, 0.941, 0.627] + !! OVERLAP: wardrobe <-> floor depth=[1.662, -0.001, 0.627] + !! OVERLAP: bed <-> floor depth=[1.761, -0.001, 2.259] +============================================================ + + +============================================================ +SCENE: Bedroom-35352 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0590, Walkable Loss: 1.6989 (Center Penalty: 2.3392, C1 Heatmap: 0.6962, C2 Repulsion: 2.5078), Relational Loss: 0.0447 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.976 1.092 2.093 0.635 -0.001 0.099 -90.07° +wardrobe 1.143 2.425 0.699 -0.936 -0.003 0.535 89.99° +nightstand 0.491 0.580 0.519 1.534 0.001 -1.106 -89.92° +nightstand 0.497 0.572 0.487 1.577 0.000 1.408 -90.01° +lamp 1.010 0.923 1.013 0.236 1.768 0.239 -0.02° +floor 3.594 -0.002 3.969 -0.026 0.000 0.109 -0.05° +_scene_ 0.070 0.002 0.025 -5.673 -0.005 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.334, 0.580, 0.101] + !! OVERLAP: bed <-> floor depth=[1.976, -0.002, 2.093] + !! OVERLAP: wardrobe <-> floor depth=[1.143, -0.002, 0.699] + !! OVERLAP: nightstand <-> floor depth=[0.483, -0.002, 0.519] + !! OVERLAP: nightstand <-> floor depth=[0.443, -0.002, 0.487] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4284 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2808, Walkable Loss: 1.1156 (Center Penalty: 1.2712, C1 Heatmap: 0.6937, C2 Repulsion: 2.0252), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.492 2.149 0.659 0.247 -0.001 -1.796 -0.01° +bed 1.754 1.343 2.101 0.597 0.000 0.502 -90.03° +nightstand 0.566 0.589 0.396 1.457 0.002 -0.853 -90.20° +nightstand 0.531 0.600 0.501 1.668 0.000 2.002 -89.93° +floor 3.436 -0.002 4.913 -0.040 0.000 0.038 0.00° +_scene_ 0.073 0.002 0.023 -5.666 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.492, -0.002, 0.659] + !! OVERLAP: bed <-> floor depth=[1.754, -0.002, 2.101] + !! OVERLAP: nightstand <-> floor depth=[0.505, -0.002, 0.396] + !! OVERLAP: nightstand <-> floor depth=[0.276, -0.002, 0.501] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1069 | 7 objects +============================================================ +Final Step Collision Loss: 0.0001, Room Outer Loss: 0.4425, Walkable Loss: 1.8387 (Center Penalty: 2.4936, C1 Heatmap: 0.6977, C2 Repulsion: 3.1285), Relational Loss: 0.0535 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.788 0.642 0.736 -0.198 2.126 -0.059 0.00° +wardrobe 1.569 2.514 0.579 1.615 -0.001 0.441 -90.05° +bed 1.984 0.821 1.891 -0.312 -0.002 0.504 179.99° +nightstand 0.453 0.526 0.427 -1.533 0.001 1.209 179.86° +nightstand 0.404 0.420 0.289 0.944 0.004 1.195 -179.96° +floor 4.098 -0.002 2.985 -0.038 -0.002 -0.021 -0.12° +_scene_ 0.069 0.000 0.019 -5.672 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.181, -0.002, 0.579] + !! OVERLAP: bed <-> floor depth=[1.984, -0.002, 1.891] + !! OVERLAP: nightstand <-> floor depth=[0.453, -0.002, 0.427] + !! OVERLAP: nightstand <-> floor depth=[0.404, -0.002, 0.289] +============================================================ + + +============================================================ +SCENE: MasterBedroom-113 | 7 objects +============================================================ +Final Step Collision Loss: 0.0506, Room Outer Loss: 0.8716, Walkable Loss: 2.0417 (Center Penalty: 2.7825, C1 Heatmap: 0.8789, C2 Repulsion: 2.9890), Relational Loss: 0.0574 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.895 0.541 0.446 1.143 -0.001 0.046 -90.14° +bed 2.204 1.115 2.336 -0.276 0.002 0.155 89.93° +nightstand 0.556 0.556 0.426 -1.318 0.001 1.212 90.01° +nightstand 0.546 0.550 0.429 -1.231 -0.000 -0.799 90.10° +lamp 0.864 0.492 0.150 0.094 2.212 -0.202 0.04° +floor 2.942 -0.001 3.077 -0.018 0.001 -0.011 -0.04° +_scene_ 0.065 0.002 0.022 -5.670 -0.006 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> bed depth=[0.630, 0.541, 0.446] + !! OVERLAP: tv_stand <-> floor depth=[1.257, -0.001, 0.446] + !! OVERLAP: bed <-> nightstand depth=[0.338, 0.556, 0.324] + !! OVERLAP: bed <-> nightstand depth=[0.420, 0.550, 0.428] + !! OVERLAP: bed <-> floor depth=[2.204, -0.001, 2.336] + !! OVERLAP: nightstand <-> floor depth=[0.449, -0.001, 0.426] + !! OVERLAP: nightstand <-> floor depth=[0.531, -0.001, 0.429] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48968 | 6 objects +============================================================ +Final Step Collision Loss: 0.0228, Room Outer Loss: 0.1110, Walkable Loss: 1.7061 (Center Penalty: 2.6000, C1 Heatmap: 0.6119, C2 Repulsion: 1.6134), Relational Loss: 0.0867 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.692 0.951 2.108 -0.367 0.005 -0.294 89.89° +nightstand 0.624 0.482 0.535 -1.328 0.003 -1.122 89.90° +desk 1.215 1.491 0.577 1.418 0.000 -1.040 -90.15° +lamp 0.675 0.310 0.686 0.069 2.333 -0.195 -0.11° +floor 3.881 0.000 2.601 0.009 -0.001 -0.036 -0.02° +_scene_ 0.069 -0.001 0.021 -5.668 -0.005 -5.708 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.198, 0.482, 0.494] + !! OVERLAP: bed <-> floor depth=[1.692, 0.000, 2.096] + !! OVERLAP: nightstand <-> floor depth=[0.624, 0.000, 0.482] + !! OVERLAP: desk <-> floor depth=[1.138, 0.000, 0.577] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9222 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4418, Walkable Loss: 1.8257 (Center Penalty: 2.0465, C1 Heatmap: 0.9441, C2 Repulsion: 4.2484), Relational Loss: 0.0341 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.827 1.385 2.121 -0.642 0.001 -0.467 89.88° +wardrobe 2.078 2.291 0.577 -0.615 0.001 1.704 -179.93° +nightstand 0.546 0.757 0.361 -1.364 0.001 -1.710 89.91° +nightstand 0.570 0.674 0.380 -1.287 0.001 0.704 89.97° +tv_stand 1.954 0.668 0.437 1.262 0.002 -0.072 -89.95° +lamp 0.611 0.613 0.348 0.039 2.050 -0.346 -0.02° +floor 3.571 -0.003 4.156 -0.042 -0.000 -0.082 0.02° +_scene_ 0.065 0.001 0.018 -5.672 -0.005 -5.714 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.554, 0.674, 0.079] + !! OVERLAP: bed <-> floor depth=[1.827, -0.003, 2.121] + !! OVERLAP: wardrobe <-> floor depth=[2.078, -0.003, 0.577] + !! OVERLAP: nightstand <-> floor depth=[0.546, -0.003, 0.361] + !! OVERLAP: nightstand <-> floor depth=[0.570, -0.003, 0.380] + !! OVERLAP: tv_stand <-> floor depth=[1.458, -0.003, 0.437] +============================================================ + + +============================================================ +SCENE: Bedroom-32051 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2537 (Center Penalty: 1.3994, C1 Heatmap: 0.7710, C2 Repulsion: 2.4564), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.924 1.052 2.142 0.918 0.001 0.481 -179.98° +cabinet 1.103 1.077 0.447 -1.234 0.001 -1.199 0.02° +wardrobe 1.373 2.341 0.624 -0.952 0.001 1.364 -180.00° +chair 0.630 0.712 0.669 -1.202 -0.001 0.418 -49.81° +lamp 0.333 0.632 0.272 0.778 2.196 0.137 -0.05° +floor 4.509 -0.003 3.529 -0.061 -0.000 0.006 -0.05° +_scene_ 0.074 0.000 0.021 -5.673 -0.005 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.924, -0.003, 2.142] + !! OVERLAP: cabinet <-> floor depth=[1.103, -0.003, 0.447] + !! OVERLAP: wardrobe <-> floor depth=[1.373, -0.003, 0.624] + !! OVERLAP: chair <-> floor depth=[0.630, -0.003, 0.669] +============================================================ + + +============================================================ +SCENE: MasterBedroom-86835 | 7 objects +============================================================ +Final Step Collision Loss: 0.0192, Room Outer Loss: 0.8441, Walkable Loss: 1.4295 (Center Penalty: 1.1522, C1 Heatmap: 0.9539, C2 Repulsion: 4.7188), Relational Loss: 0.0411 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.504 1.055 2.061 -0.769 0.002 0.751 89.94° +wardrobe 1.171 2.079 0.517 -1.243 0.000 -1.201 90.03° +wardrobe 1.200 2.040 0.597 -0.263 -0.000 -1.357 -0.00° +tv_stand 2.558 0.664 0.559 1.345 0.005 0.601 -89.80° +nightstand 0.472 0.517 0.391 -1.593 -0.000 -0.051 90.00° +floor 3.711 -0.001 4.638 -0.020 -0.000 0.077 -0.05° +_scene_ 0.074 -0.002 0.025 -5.670 -0.005 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.164, 0.517, 0.391] + !! OVERLAP: bed <-> floor depth=[1.504, -0.001, 2.061] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.205, 2.040, 0.401] + !! OVERLAP: wardrobe <-> floor depth=[1.171, -0.001, 0.517] + !! OVERLAP: wardrobe <-> floor depth=[1.200, -0.001, 0.597] + !! OVERLAP: tv_stand <-> floor depth=[1.770, -0.001, 0.559] + !! OVERLAP: nightstand <-> floor depth=[0.472, -0.001, 0.391] +============================================================ + + +============================================================ +SCENE: SecondBedroom-86888 | 6 objects +============================================================ +Final Step Collision Loss: 0.0862, Room Outer Loss: 0.0791, Walkable Loss: 1.3975 (Center Penalty: 1.6374, C1 Heatmap: 0.7617, C2 Repulsion: 2.7416), Relational Loss: 0.0475 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.207 0.950 2.325 -0.221 0.003 -0.408 89.92° +nightstand 0.485 0.556 0.352 -1.227 0.001 0.382 90.02° +wardrobe 1.194 2.036 0.534 -0.099 0.002 1.562 -179.89° +nightstand 0.569 0.466 0.543 -1.211 0.003 -1.233 90.07° +floor 2.848 -0.001 3.772 -0.013 0.000 -0.045 0.00° +_scene_ 0.069 0.001 0.019 -5.670 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.340, 0.556, 0.352] + !! OVERLAP: bed <-> nightstand depth=[0.398, 0.466, 0.543] + !! OVERLAP: bed <-> floor depth=[2.207, -0.001, 2.325] + !! OVERLAP: nightstand <-> floor depth=[0.453, -0.001, 0.352] + !! OVERLAP: wardrobe <-> floor depth=[1.194, -0.001, 0.534] + !! OVERLAP: nightstand <-> floor depth=[0.511, -0.001, 0.543] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9583 | 10 objects +============================================================ +Final Step Collision Loss: 0.0706, Room Outer Loss: 0.4425, Walkable Loss: 2.7551 (Center Penalty: 2.6320, C1 Heatmap: 1.4388, C2 Repulsion: 8.6358), Relational Loss: 0.0403 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.924 0.813 0.359 1.355 0.001 -0.386 -90.07° +lamp 0.878 0.809 0.852 0.015 1.995 0.158 0.15° +bed 2.210 1.291 2.433 -0.423 0.000 -0.277 89.87° +nightstand 0.483 0.514 0.377 -1.548 0.002 -1.320 90.04° +nightstand 0.516 0.526 0.432 -1.448 0.002 1.125 90.01° +table 0.751 1.309 0.293 -1.236 0.000 1.632 89.94° +wardrobe 2.345 2.286 0.561 -0.521 -0.002 -2.174 0.05° +desk 2.214 0.676 1.516 0.657 -0.001 1.015 -89.99° +floor 3.301 0.002 4.809 -0.026 -0.000 0.007 -0.01° +_scene_ 0.072 0.000 0.023 -5.671 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.731, 0.002, 0.359] + !! OVERLAP: bed <-> nightstand depth=[0.222, 0.514, 0.362] + !! OVERLAP: bed <-> nightstand depth=[0.338, 0.526, 0.031] + !! OVERLAP: bed <-> desk depth=[1.132, 0.676, 0.683] + !! OVERLAP: bed <-> floor depth=[2.210, 0.002, 2.433] + !! OVERLAP: nightstand <-> floor depth=[0.370, 0.002, 0.377] + !! OVERLAP: nightstand <-> floor depth=[0.487, 0.002, 0.432] + !! OVERLAP: table <-> floor depth=[0.751, 0.002, 0.293] + !! OVERLAP: wardrobe <-> floor depth=[2.328, 0.002, 0.503] + !! OVERLAP: desk <-> floor depth=[2.074, 0.002, 1.516] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8823 | 5 objects +============================================================ +Final Step Collision Loss: 0.0015, Room Outer Loss: 0.0000, Walkable Loss: 1.5764 (Center Penalty: 2.4620, C1 Heatmap: 0.6327, C2 Repulsion: 0.9233), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.071 1.290 2.329 0.475 -0.000 -0.347 -90.18° +nightstand 0.419 0.507 0.456 1.278 -0.000 1.032 -89.85° +lamp 1.024 0.894 0.606 -0.135 1.954 0.054 89.96° +floor 3.228 -0.002 3.314 0.000 0.001 -0.005 -0.05° +_scene_ 0.068 0.000 0.019 -5.675 -0.005 -5.720 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.419, 0.507, 0.013] + !! OVERLAP: bed <-> floor depth=[2.071, -0.002, 2.329] + !! OVERLAP: nightstand <-> floor depth=[0.419, -0.002, 0.456] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13218 | 7 objects +============================================================ +Final Step Collision Loss: 0.1030, Room Outer Loss: 0.8974, Walkable Loss: 2.3365 (Center Penalty: 3.0239, C1 Heatmap: 1.1014, C2 Repulsion: 3.8395), Relational Loss: 0.0672 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.998 1.443 2.280 -0.231 0.001 -0.121 89.85° +wardrobe 2.055 2.191 0.456 -0.243 -0.001 1.342 -179.95° +nightstand 0.496 0.552 0.482 -1.079 0.000 -1.319 89.92° +tv_stand 2.385 0.937 0.499 0.961 -0.002 0.079 -90.01° +lamp 0.571 0.497 0.561 0.074 2.019 0.010 -0.00° +floor 2.698 -0.001 3.276 0.002 0.000 -0.015 -0.03° +_scene_ 0.070 0.001 0.019 -5.674 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.399, 0.552, 0.182] + !! OVERLAP: bed <-> tv_stand depth=[1.000, 0.937, 0.499] + !! OVERLAP: bed <-> floor depth=[1.998, -0.001, 2.280] + !! OVERLAP: wardrobe <-> floor depth=[2.055, -0.001, 0.456] + !! OVERLAP: nightstand <-> floor depth=[0.496, -0.001, 0.482] + !! OVERLAP: tv_stand <-> floor depth=[1.583, -0.001, 0.499] +============================================================ + + +============================================================ +SCENE: SecondBedroom-36408 | 9 objects +============================================================ +Final Step Collision Loss: 0.0415, Room Outer Loss: 0.3067, Walkable Loss: 2.2165 (Center Penalty: 2.0556, C1 Heatmap: 1.1552, C2 Repulsion: 7.2663), Relational Loss: 0.0329 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.429 1.268 2.415 -0.225 0.006 0.736 90.08° +table 0.608 0.518 0.579 -1.127 0.004 1.823 0.12° +table 0.558 0.558 0.518 -1.228 0.001 -0.663 90.07° +wardrobe 0.992 2.076 0.550 -0.849 -0.001 -1.322 0.03° +wardrobe 0.977 2.063 0.471 0.026 -0.001 -1.508 0.05° +lamp 0.465 0.146 0.466 -0.006 2.669 0.337 -0.10° +lamp 1.303 1.073 1.295 -0.718 1.431 1.633 0.03° +floor 2.832 -0.001 4.333 0.006 -0.000 0.225 -0.01° +_scene_ 0.062 -0.001 0.019 -5.674 -0.004 -5.719 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.608, 0.518, 0.410] + !! OVERLAP: bed <-> table depth=[0.490, 0.558, 0.068] + !! OVERLAP: bed <-> floor depth=[2.399, -0.001, 2.415] + !! OVERLAP: table <-> floor depth=[0.586, -0.001, 0.579] + !! OVERLAP: table <-> floor depth=[0.460, -0.001, 0.518] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.110, 2.063, 0.325] + !! OVERLAP: wardrobe <-> floor depth=[0.992, -0.001, 0.550] + !! OVERLAP: wardrobe <-> floor depth=[0.977, -0.001, 0.471] +============================================================ + + +============================================================ +SCENE: MasterBedroom-36389 | 8 objects +============================================================ +Final Step Collision Loss: 0.2379, Room Outer Loss: 0.4901, Walkable Loss: 2.0607 (Center Penalty: 2.2619, C1 Heatmap: 1.1243, C2 Repulsion: 4.8000), Relational Loss: 0.0167 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.818 1.177 2.514 0.264 0.001 0.336 -90.06° +nightstand 0.445 0.591 0.397 1.368 0.006 1.844 -90.03° +nightstand 0.466 0.659 0.433 1.395 -0.000 0.096 -90.05° +wardrobe 1.803 2.183 0.604 -0.136 -0.002 -1.477 0.03° +wardrobe 1.548 2.088 0.515 -0.211 0.001 -1.187 0.06° +lamp 0.990 0.960 0.982 0.049 1.771 0.573 0.02° +floor 3.100 -0.002 4.130 -0.015 -0.000 0.019 -0.05° +_scene_ 0.073 0.001 0.022 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.466, 0.659, 0.433] + !! OVERLAP: bed <-> floor depth=[2.680, -0.002, 2.514] + !! OVERLAP: nightstand <-> floor depth=[0.390, -0.002, 0.397] + !! OVERLAP: nightstand <-> floor depth=[0.374, -0.002, 0.433] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.548, 2.088, 0.270] + !! OVERLAP: wardrobe <-> floor depth=[1.803, -0.002, 0.604] + !! OVERLAP: wardrobe <-> floor depth=[1.548, -0.002, 0.515] +============================================================ + + +============================================================ +SCENE: SecondBedroom-7635 | 6 objects +============================================================ +Final Step Collision Loss: 0.0192, Room Outer Loss: 0.2444, Walkable Loss: 1.3365 (Center Penalty: 1.3372, C1 Heatmap: 0.8555, C2 Repulsion: 3.2569), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.866 1.451 1.954 0.966 -0.002 -0.047 -90.06° +wardrobe 1.425 2.107 0.601 -0.753 -0.001 -1.243 0.02° +desk 1.606 0.716 0.739 -1.355 -0.003 0.940 89.98° +chair 0.505 0.589 0.528 -0.809 -0.003 0.498 -89.81° +floor 3.880 -0.002 3.106 -0.012 -0.001 -0.007 -0.03° +_scene_ 0.063 0.001 0.024 -5.667 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.866, -0.002, 1.954] + !! OVERLAP: wardrobe <-> floor depth=[1.425, -0.002, 0.601] + !! OVERLAP: desk <-> chair depth=[0.505, 0.589, 0.192] + !! OVERLAP: desk <-> floor depth=[1.400, -0.002, 0.739] + !! OVERLAP: chair <-> floor depth=[0.505, -0.002, 0.528] +============================================================ + + +============================================================ +SCENE: Bedroom-1541 | 6 objects +============================================================ +Final Step Collision Loss: 0.0388, Room Outer Loss: 0.0227, Walkable Loss: 2.0056 (Center Penalty: 2.7766, C1 Heatmap: 0.7959, C2 Repulsion: 2.9890), Relational Loss: 0.0515 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.170 1.140 2.177 0.189 -0.001 -0.251 -90.00° +table 0.575 0.490 0.429 1.178 -0.002 0.635 -89.98° +wardrobe 1.638 2.386 0.564 0.543 -0.001 1.133 179.98° +lamp 0.773 0.918 0.764 -0.002 1.824 -0.275 0.00° +floor 2.995 -0.002 3.247 0.008 0.000 0.018 -0.00° +_scene_ 0.057 0.001 0.020 -5.671 -0.004 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.383, 0.490, 0.417] + !! OVERLAP: bed <-> floor depth=[2.170, -0.002, 2.177] + !! OVERLAP: table <-> floor depth=[0.575, -0.002, 0.429] + !! OVERLAP: wardrobe <-> floor depth=[1.638, -0.002, 0.564] +============================================================ + + +============================================================ +SCENE: Bedroom-11202 | 6 objects +============================================================ +Final Step Collision Loss: 0.1268, Room Outer Loss: 0.4920, Walkable Loss: 1.7887 (Center Penalty: 2.5318, C1 Heatmap: 0.8736, C2 Repulsion: 1.7334), Relational Loss: 0.0278 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.001 1.039 2.251 0.589 0.000 0.035 -179.97° +wardrobe 1.517 2.126 0.617 -1.447 0.001 -0.150 89.93° +desk 1.391 0.779 0.624 0.986 0.004 1.166 179.89° +lamp 0.825 0.159 0.806 -0.006 2.324 0.079 -0.01° +floor 3.500 -0.001 3.020 -0.006 0.000 0.008 -0.01° +_scene_ 0.056 0.000 0.016 -5.674 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[1.299, 0.779, 0.307] + !! OVERLAP: bed <-> floor depth=[2.001, -0.001, 2.251] + !! OVERLAP: wardrobe <-> floor depth=[1.067, -0.001, 0.617] + !! OVERLAP: desk <-> floor depth=[1.391, -0.001, 0.624] +============================================================ + + +============================================================ +SCENE: Bedroom-26487 | 13 objects +============================================================ +Final Step Collision Loss: 0.0166, Room Outer Loss: 0.7879, Walkable Loss: 2.7699 (Center Penalty: 2.3193, C1 Heatmap: 1.1013, C2 Repulsion: 11.6974), Relational Loss: 0.0266 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.023 1.413 2.194 -0.426 -0.000 0.126 89.80° +nightstand 0.549 0.601 0.478 -1.321 0.001 1.880 90.08° +nightstand 0.652 0.569 0.466 -1.266 0.001 -0.941 89.98° +tv_stand 1.660 0.422 0.418 1.424 -0.001 0.352 -90.11° +wardrobe 1.352 2.383 0.596 -0.826 -0.002 -1.769 0.03° +wardrobe 1.167 2.348 0.535 0.110 -0.001 -1.433 0.01° +lamp 0.073 0.940 0.058 -1.421 1.067 -0.917 0.05° +lamp 0.203 0.772 0.162 -1.408 1.115 1.655 0.08° +lamp 0.781 0.810 0.820 0.059 1.996 0.433 -0.02° +chair 0.650 0.703 0.589 -0.185 0.003 1.989 153.59° +table 0.582 0.519 0.533 0.628 -0.000 2.041 90.10° +floor 3.064 -0.001 4.966 -0.024 0.002 0.066 -0.01° +_scene_ 0.067 -0.001 0.019 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.498, 0.569, 0.263] + !! OVERLAP: bed <-> lamp depth=[0.054, 0.110, 0.058] + !! OVERLAP: bed <-> floor depth=[2.023, -0.001, 2.194] + !! OVERLAP: nightstand <-> floor depth=[0.510, -0.001, 0.478] + !! OVERLAP: nightstand <-> floor depth=[0.617, -0.001, 0.466] + !! OVERLAP: tv_stand <-> floor depth=[0.914, -0.001, 0.418] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.324, 2.348, 0.229] + !! OVERLAP: wardrobe <-> floor depth=[1.352, -0.001, 0.596] + !! OVERLAP: wardrobe <-> floor depth=[1.167, -0.001, 0.535] + !! OVERLAP: chair <-> floor depth=[0.650, -0.001, 0.589] + !! OVERLAP: table <-> floor depth=[0.582, -0.001, 0.533] +============================================================ + + +============================================================ +SCENE: Bedroom-691 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5020, Walkable Loss: 1.6526 (Center Penalty: 2.4400, C1 Heatmap: 0.8330, C2 Repulsion: 0.9942), Relational Loss: 0.0745 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.254 0.761 2.195 -0.501 0.001 -0.315 89.91° +lamp 0.725 0.760 0.719 -0.146 1.889 -0.236 90.02° +wardrobe 2.137 2.565 0.629 0.976 -0.000 0.107 -90.28° +floor 3.235 0.003 3.375 -0.047 0.001 -0.019 -0.02° +_scene_ 0.029 0.004 0.012 -5.558 -0.004 -5.636 -57.50° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.718, 0.761, 0.629] + !! OVERLAP: bed <-> floor depth=[2.254, 0.003, 2.195] + !! OVERLAP: wardrobe <-> floor depth=[1.663, 0.003, 0.629] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14817 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1754, Walkable Loss: 1.5247 (Center Penalty: 1.8265, C1 Heatmap: 0.7830, C2 Repulsion: 2.9827), Relational Loss: 0.0747 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.421 0.584 0.398 -1.112 0.002 -1.230 0.01° +bed 2.022 1.181 2.303 0.199 0.003 -0.235 -0.03° +nightstand 0.496 0.621 0.448 1.635 0.000 -1.022 -0.02° +wardrobe 1.321 2.459 0.645 -1.764 -0.002 -0.336 89.92° +floor 4.587 -0.001 2.781 -0.003 -0.001 -0.008 -0.03° +_scene_ 0.070 0.001 0.021 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.421, -0.001, 0.368] + !! OVERLAP: bed <-> floor depth=[2.022, -0.001, 2.303] + !! OVERLAP: nightstand <-> floor depth=[0.496, -0.001, 0.448] + !! OVERLAP: wardrobe <-> floor depth=[1.193, -0.001, 0.645] +============================================================ + + +============================================================ +SCENE: MasterBedroom-30192 | 9 objects +============================================================ +Final Step Collision Loss: 0.0340, Room Outer Loss: 0.1238, Walkable Loss: 2.1648 (Center Penalty: 2.3592, C1 Heatmap: 0.9996, C2 Repulsion: 5.8534), Relational Loss: 0.0343 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.973 1.431 2.106 -0.629 -0.001 -0.091 89.88° +nightstand 0.506 0.520 0.404 -1.460 0.001 -1.349 90.02° +wardrobe 1.657 2.436 0.503 -0.798 0.001 1.697 -179.98° +wardrobe 1.699 2.457 0.673 1.143 -0.001 -1.006 -90.06° +chair 0.808 0.735 0.958 1.489 -0.002 -0.215 -90.19° +lamp 0.737 0.818 0.737 -0.158 2.160 -0.042 -0.02° +nightstand 0.533 0.467 0.426 -1.555 0.001 1.023 90.00° +floor 3.937 -0.001 3.745 -0.024 -0.000 0.032 -0.04° +_scene_ 0.070 0.001 0.023 -5.674 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.064, 1.431, 0.474] + !! OVERLAP: bed <-> nightstand depth=[0.328, 0.467, 0.152] + !! OVERLAP: bed <-> floor depth=[1.973, -0.001, 2.106] + !! OVERLAP: nightstand <-> floor depth=[0.506, -0.001, 0.404] + !! OVERLAP: wardrobe <-> floor depth=[1.657, -0.001, 0.459] + !! OVERLAP: wardrobe <-> chair depth=[0.808, 0.735, 0.024] + !! OVERLAP: wardrobe <-> floor depth=[1.651, -0.001, 0.673] + !! OVERLAP: chair <-> floor depth=[0.808, -0.001, 0.958] + !! OVERLAP: nightstand <-> floor depth=[0.533, -0.001, 0.426] +============================================================ + + +============================================================ +SCENE: Bedroom-41491 | 6 objects +============================================================ +Final Step Collision Loss: 0.0035, Room Outer Loss: 0.0713, Walkable Loss: 1.7093 (Center Penalty: 2.3832, C1 Heatmap: 0.6386, C2 Repulsion: 2.6230), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.528 1.145 2.440 -0.541 0.002 0.625 89.90° +desk 1.105 0.935 0.574 -0.983 0.002 -1.219 179.89° +chair 0.592 0.944 0.566 -0.784 0.004 -0.458 -167.39° +lamp 0.643 0.207 0.586 -0.060 2.363 0.127 -0.03° +floor 2.992 -0.003 4.017 -0.044 -0.000 -0.016 -0.02° +_scene_ 0.065 0.001 0.017 -5.669 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.592, 0.944, 0.421] + !! OVERLAP: bed <-> floor depth=[1.528, -0.003, 2.440] + !! OVERLAP: desk <-> floor depth=[1.105, -0.003, 0.574] + !! OVERLAP: chair <-> floor depth=[0.592, -0.003, 0.566] +============================================================ + + +============================================================ +SCENE: MasterBedroom-49865 | 7 objects +============================================================ +Final Step Collision Loss: 0.0033, Room Outer Loss: 0.2382, Walkable Loss: 1.7019 (Center Penalty: 2.4024, C1 Heatmap: 0.6643, C2 Repulsion: 2.3492), Relational Loss: 0.0395 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.764 1.185 2.085 0.521 0.002 0.384 179.98° +nightstand 0.487 0.653 0.455 -0.832 0.001 1.209 179.90° +nightstand 0.551 0.605 0.425 1.551 0.005 1.202 179.88° +wardrobe 1.427 2.323 0.573 -1.743 0.006 0.083 89.96° +lamp 0.381 0.744 0.328 0.252 1.901 0.029 -0.07° +floor 4.419 -0.001 2.837 -0.015 -0.000 -0.012 -0.00° +_scene_ 0.067 -0.000 0.017 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.127, 0.605, 0.425] + !! OVERLAP: bed <-> floor depth=[1.764, -0.001, 2.065] + !! OVERLAP: nightstand <-> floor depth=[0.487, -0.001, 0.425] + !! OVERLAP: nightstand <-> floor depth=[0.551, -0.001, 0.417] + !! OVERLAP: wardrobe <-> floor depth=[1.195, -0.001, 0.573] +============================================================ + + +============================================================ +SCENE: MasterBedroom-16450 | 7 objects +============================================================ +Final Step Collision Loss: 0.0145, Room Outer Loss: 0.0000, Walkable Loss: 1.6641 (Center Penalty: 2.4358, C1 Heatmap: 0.6319, C2 Repulsion: 1.9341), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.858 0.758 2.115 -0.330 -0.001 -0.389 0.02° +cabinet 0.601 0.925 0.284 -0.825 0.003 1.473 179.87° +nightstand 0.596 0.682 0.469 1.294 0.002 -1.237 -0.03° +nightstand 0.649 0.720 0.503 -1.510 0.000 -1.196 0.00° +lamp 0.710 0.497 0.699 -0.154 2.256 0.123 -0.04° +floor 4.105 -0.001 3.281 -0.089 -0.000 0.004 -0.02° +_scene_ 0.069 0.001 0.025 -5.671 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.073, 0.720, 0.503] + !! OVERLAP: bed <-> floor depth=[1.858, -0.001, 2.115] + !! OVERLAP: cabinet <-> floor depth=[0.601, -0.001, 0.284] + !! OVERLAP: nightstand <-> floor depth=[0.596, -0.001, 0.469] + !! OVERLAP: nightstand <-> floor depth=[0.649, -0.001, 0.503] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14328 | 7 objects +============================================================ +Final Step Collision Loss: 0.0992, Room Outer Loss: 1.3033, Walkable Loss: 1.8007 (Center Penalty: 1.8235, C1 Heatmap: 1.1671, C2 Repulsion: 4.2210), Relational Loss: 0.0480 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.412 1.280 0.469 -1.121 0.005 0.806 179.99° +nightstand 0.601 0.521 0.454 -1.327 0.001 -1.191 0.05° +bed 2.317 0.779 2.385 -0.195 -0.002 -0.199 -0.01° +nightstand 0.389 0.579 0.326 1.166 0.001 -1.344 0.03° +wardrobe 2.811 2.402 0.623 1.348 -0.001 0.065 -90.07° +floor 3.485 0.005 2.954 0.002 -0.001 0.009 -0.04° +_scene_ 0.070 0.001 0.022 -5.670 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.938, 0.779, 0.421] + !! OVERLAP: table <-> floor depth=[1.325, 0.005, 0.469] + !! OVERLAP: nightstand <-> bed depth=[0.326, 0.521, 0.428] + !! OVERLAP: nightstand <-> floor depth=[0.601, 0.005, 0.454] + !! OVERLAP: bed <-> wardrobe depth=[1.021, 0.779, 0.623] + !! OVERLAP: bed <-> floor depth=[2.317, 0.005, 2.385] + !! OVERLAP: nightstand <-> floor depth=[0.389, 0.005, 0.287] + !! OVERLAP: wardrobe <-> floor depth=[1.801, 0.005, 0.623] +============================================================ + + +============================================================ +SCENE: SecondBedroom-39108 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1377, Walkable Loss: 1.4492 (Center Penalty: 2.0486, C1 Heatmap: 0.7874, C2 Repulsion: 1.0995), Relational Loss: 0.0180 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.067 1.087 0.516 -1.441 0.002 0.280 89.93° +cabinet 1.021 1.089 0.449 -1.597 0.000 -1.478 90.04° +bed 2.267 0.697 2.370 0.672 -0.002 -0.662 0.01° +lamp 0.370 0.878 0.363 0.131 1.800 -0.281 0.00° +lamp 0.609 0.792 0.503 0.808 2.301 -1.217 0.04° +lamp 0.165 0.765 0.164 -1.036 2.055 1.401 -89.71° +floor 3.826 -0.000 4.173 -0.052 0.001 -0.153 0.01° +_scene_ 0.061 0.002 0.016 -5.677 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.058, -0.000, 0.516] + !! OVERLAP: cabinet <-> floor depth=[0.879, -0.000, 0.449] + !! OVERLAP: bed <-> floor depth=[2.267, -0.000, 2.370] +============================================================ + + +============================================================ +SCENE: MasterBedroom-19531 | 7 objects +============================================================ +Final Step Collision Loss: 0.0161, Room Outer Loss: 0.2302, Walkable Loss: 2.1407 (Center Penalty: 2.8487, C1 Heatmap: 0.8977, C2 Repulsion: 3.5727), Relational Loss: 0.0678 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.571 0.218 0.570 0.042 2.400 -0.038 -0.04° +bed 1.805 1.137 2.306 0.246 0.000 -0.212 0.04° +nightstand 0.585 0.627 0.495 -1.052 0.002 -1.341 0.01° +nightstand 0.662 0.582 0.555 1.405 0.001 -1.219 0.01° +wardrobe 2.247 2.448 0.696 -1.246 -0.001 -0.098 89.80° +floor 3.886 -0.003 3.138 0.010 0.001 -0.068 -0.01° +_scene_ 0.067 -0.001 0.023 -5.671 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.074, 0.582, 0.424] + !! OVERLAP: bed <-> wardrobe depth=[0.534, 1.137, 0.696] + !! OVERLAP: bed <-> floor depth=[1.805, -0.003, 2.306] + !! OVERLAP: nightstand <-> floor depth=[0.585, -0.003, 0.495] + !! OVERLAP: nightstand <-> floor depth=[0.662, -0.003, 0.555] + !! OVERLAP: wardrobe <-> floor depth=[1.811, -0.003, 0.696] +============================================================ + + +============================================================ +SCENE: Bedroom-74 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3618, Walkable Loss: 1.6114 (Center Penalty: 2.5419, C1 Heatmap: 0.6528, C2 Repulsion: 0.7932), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.896 1.543 2.085 -0.599 0.001 -0.063 89.87° +lamp 0.587 0.466 0.509 -0.086 2.121 0.064 0.04° +wardrobe 1.540 2.304 0.629 1.289 -0.000 -0.194 -90.05° +floor 3.328 0.000 3.219 -0.023 -0.000 -0.006 -0.02° +_scene_ 0.044 0.004 0.005 -5.667 -0.006 -5.722 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.896, 0.000, 2.085] + !! OVERLAP: wardrobe <-> floor depth=[1.121, 0.000, 0.629] +============================================================ + + +============================================================ +SCENE: Bedroom-15856 | 8 objects +============================================================ +Final Step Collision Loss: 0.0219, Room Outer Loss: 0.2274, Walkable Loss: 1.9951 (Center Penalty: 2.4585, C1 Heatmap: 0.9089, C2 Repulsion: 4.0224), Relational Loss: 0.0253 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.054 1.159 2.219 -0.540 0.000 -0.043 89.87° +nightstand 0.676 0.625 0.532 -1.655 0.002 -1.189 89.99° +nightstand 0.592 0.700 0.411 -1.763 0.001 0.832 89.96° +lamp 0.555 0.333 0.476 0.296 2.495 -0.146 -0.05° +chair 0.634 0.891 0.751 1.345 -0.001 -0.739 -29.96° +tv_stand 1.855 0.539 0.434 1.676 0.001 0.291 -90.05° +floor 4.615 -0.002 2.796 0.208 -0.001 -0.001 -0.02° +_scene_ 0.069 -0.000 0.024 -5.673 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.250, 0.625, 0.229] + !! OVERLAP: bed <-> nightstand depth=[0.099, 0.700, 0.411] + !! OVERLAP: bed <-> floor depth=[2.054, -0.002, 2.219] + !! OVERLAP: nightstand <-> floor depth=[0.676, -0.002, 0.476] + !! OVERLAP: nightstand <-> floor depth=[0.592, -0.002, 0.411] + !! OVERLAP: chair <-> floor depth=[0.634, -0.002, 0.751] + !! OVERLAP: tv_stand <-> floor depth=[1.768, -0.002, 0.434] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3845 | 7 objects +============================================================ +Final Step Collision Loss: 0.0022, Room Outer Loss: 0.0994, Walkable Loss: 1.7375 (Center Penalty: 2.1081, C1 Heatmap: 0.8949, C2 Repulsion: 3.2552), Relational Loss: 0.0449 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.765 2.438 0.579 -0.410 0.001 1.832 179.98° +bed 2.015 0.790 2.075 -0.585 0.001 -0.422 89.92° +nightstand 0.564 0.528 0.426 -1.459 0.001 -1.740 90.01° +nightstand 0.395 0.587 0.362 -1.503 0.002 0.897 90.03° +lamp 0.583 0.118 0.596 -0.029 2.513 -0.451 -0.02° +floor 3.456 -0.003 4.411 -0.063 -0.000 -0.073 -0.02° +_scene_ 0.064 -0.001 0.018 -5.665 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.763, -0.003, 0.579] + !! OVERLAP: bed <-> floor depth=[2.015, -0.003, 2.075] + !! OVERLAP: nightstand <-> floor depth=[0.564, -0.003, 0.426] + !! OVERLAP: nightstand <-> floor depth=[0.395, -0.003, 0.362] +============================================================ + + +============================================================ +SCENE: MasterBedroom-14075 | 7 objects +============================================================ +Final Step Collision Loss: 0.0018, Room Outer Loss: 0.0000, Walkable Loss: 1.6495 (Center Penalty: 2.0812, C1 Heatmap: 0.8984, C2 Repulsion: 2.4957), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.765 0.932 1.963 0.246 -0.000 0.723 179.97° +tv_stand 3.125 0.772 0.509 0.106 -0.001 -1.357 0.03° +lamp 0.744 0.663 0.691 0.308 2.146 0.271 -0.06° +nightstand 0.415 0.436 0.392 1.477 0.006 1.617 179.86° +nightstand 0.464 0.489 0.400 -0.869 0.001 1.528 179.89° +floor 3.797 -0.002 3.731 -0.003 0.000 -0.046 -0.01° +_scene_ 0.061 0.000 0.028 -5.664 -0.004 -5.707 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.000, 0.489, 0.376] + !! OVERLAP: bed <-> floor depth=[1.765, -0.002, 1.963] + !! OVERLAP: tv_stand <-> floor depth=[3.125, -0.002, 0.509] + !! OVERLAP: nightstand <-> floor depth=[0.415, -0.002, 0.392] + !! OVERLAP: nightstand <-> floor depth=[0.464, -0.002, 0.400] +============================================================ + + +============================================================ +SCENE: Bedroom-22495 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2957 (Center Penalty: 1.8944, C1 Heatmap: 0.7337, C2 Repulsion: 0.5506), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.037 1.418 2.318 0.203 -0.000 0.759 179.95° +lamp 0.811 0.988 0.890 0.290 1.722 0.360 -0.04° +wardrobe 1.553 2.077 0.653 0.520 -0.000 -1.559 0.01° +floor 3.425 0.000 4.209 0.053 0.001 0.012 -0.01° +_scene_ 0.077 0.005 0.033 -5.665 -0.003 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.037, 0.000, 2.318] + !! OVERLAP: wardrobe <-> floor depth=[1.553, 0.000, 0.653] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22581 | 9 objects +============================================================ +Final Step Collision Loss: 0.0825, Room Outer Loss: 0.0000, Walkable Loss: 2.1940 (Center Penalty: 2.4499, C1 Heatmap: 1.0817, C2 Repulsion: 5.3642), Relational Loss: 0.0042 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.055 0.729 0.897 1.190 0.001 -1.160 -0.02° +chair 0.552 0.699 0.566 2.009 -0.001 -0.670 -179.75° +wardrobe 1.248 2.102 0.600 -1.966 -0.000 -0.281 89.98° +cabinet 0.586 1.013 0.413 1.809 0.001 1.419 -180.00° +nightstand 0.764 0.824 0.553 -1.095 0.000 -1.221 0.08° +bed 2.045 1.081 2.310 0.025 0.000 -0.368 -0.00° +lamp 0.571 0.290 0.569 0.423 2.271 0.185 -0.03° +floor 5.333 -0.003 3.244 0.074 0.000 0.000 -0.02° +_scene_ 0.069 0.001 0.021 -5.672 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.485, 0.699, 0.242] + !! OVERLAP: desk <-> bed depth=[0.885, 0.729, 0.812] + !! OVERLAP: desk <-> floor depth=[2.055, -0.003, 0.897] + !! OVERLAP: chair <-> floor depth=[0.552, -0.003, 0.566] + !! OVERLAP: wardrobe <-> floor depth=[1.248, -0.003, 0.600] + !! OVERLAP: cabinet <-> floor depth=[0.586, -0.003, 0.410] + !! OVERLAP: nightstand <-> bed depth=[0.284, 0.824, 0.553] + !! OVERLAP: nightstand <-> floor depth=[0.764, -0.003, 0.553] + !! OVERLAP: bed <-> floor depth=[2.045, -0.003, 2.310] +============================================================ + + +============================================================ +SCENE: Bedroom-54381 | 6 objects +============================================================ +Final Step Collision Loss: 0.0208, Room Outer Loss: 0.0751, Walkable Loss: 1.8511 (Center Penalty: 2.7728, C1 Heatmap: 0.7145, C2 Repulsion: 1.7895), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.333 0.971 2.329 -0.319 0.000 -0.133 89.85° +nightstand 0.594 0.535 0.409 -1.274 0.001 -1.325 89.99° +nightstand 0.495 0.528 0.438 -1.227 0.004 1.308 89.87° +lamp 0.828 0.785 0.494 -0.011 1.782 -0.176 0.07° +floor 2.972 -0.003 3.935 -0.029 0.000 -0.040 0.01° +_scene_ 0.066 0.002 0.019 -5.671 -0.006 -5.713 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.509, 0.535, 0.177] + !! OVERLAP: bed <-> floor depth=[2.333, -0.003, 2.329] + !! OVERLAP: nightstand <-> floor depth=[0.538, -0.003, 0.409] + !! OVERLAP: nightstand <-> floor depth=[0.495, -0.003, 0.438] +============================================================ + + +============================================================ +SCENE: Bedroom-5215 | 8 objects +============================================================ +Final Step Collision Loss: 0.0065, Room Outer Loss: 0.1394, Walkable Loss: 1.7415 (Center Penalty: 1.8953, C1 Heatmap: 0.8615, C2 Repulsion: 4.4931), Relational Loss: 0.0145 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.951 1.188 2.234 0.734 -0.000 -0.886 -0.03° +nightstand 0.577 0.496 0.526 -0.576 0.000 -1.333 -0.02° +table 1.100 1.017 0.532 1.392 0.001 1.786 -180.00° +chair 0.595 0.365 0.600 1.056 0.001 1.096 0.03° +wardrobe 1.483 2.204 0.577 -1.235 -0.004 -0.681 89.97° +lamp 0.648 0.156 0.645 0.296 2.358 0.148 -0.03° +floor 3.891 -0.001 4.162 0.011 -0.000 -0.029 0.05° +_scene_ 0.074 0.000 0.022 -5.671 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.951, -0.001, 2.234] + !! OVERLAP: nightstand <-> floor depth=[0.577, -0.001, 0.526] + !! OVERLAP: table <-> floor depth=[1.100, -0.001, 0.531] + !! OVERLAP: chair <-> floor depth=[0.595, -0.001, 0.600] + !! OVERLAP: wardrobe <-> floor depth=[1.441, -0.001, 0.577] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12479 | 8 objects +============================================================ +Final Step Collision Loss: 0.0040, Room Outer Loss: 0.1240, Walkable Loss: 1.8117 (Center Penalty: 2.3282, C1 Heatmap: 0.8292, C2 Repulsion: 3.1584), Relational Loss: 0.0349 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.993 1.473 2.231 0.199 -0.000 -0.534 -0.02° +nightstand 0.523 0.659 0.409 -1.145 0.002 -1.416 0.04° +nightstand 0.463 0.691 0.470 1.353 0.001 -1.388 0.01° +shelf 0.603 1.057 0.230 -1.287 -0.001 1.406 -179.97° +tv_stand 1.964 0.541 0.512 0.590 0.002 1.478 179.96° +lamp 0.774 0.519 0.738 0.288 2.132 -0.170 -0.03° +floor 3.554 0.000 3.364 -0.008 0.001 0.011 -0.00° +_scene_ 0.070 -0.001 0.020 -5.673 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.075, 0.691, 0.470] + !! OVERLAP: bed <-> floor depth=[1.993, 0.000, 2.231] + !! OVERLAP: nightstand <-> floor depth=[0.523, 0.000, 0.409] + !! OVERLAP: nightstand <-> floor depth=[0.463, 0.000, 0.470] + !! OVERLAP: shelf <-> floor depth=[0.603, 0.000, 0.230] + !! OVERLAP: tv_stand <-> floor depth=[1.964, 0.000, 0.471] +============================================================ + + +============================================================ +SCENE: SecondBedroom-37794 | 7 objects +============================================================ +Final Step Collision Loss: 0.0154, Room Outer Loss: 0.1575, Walkable Loss: 1.8832 (Center Penalty: 2.5221, C1 Heatmap: 0.8010, C2 Repulsion: 3.0169), Relational Loss: 0.0686 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.851 0.919 0.858 0.103 1.704 0.063 0.03° +bed 2.395 1.182 2.393 -0.437 0.000 -0.436 0.00° +nightstand 0.501 0.563 0.456 -1.642 0.001 -1.435 0.03° +chair 0.553 0.571 0.545 1.391 -0.000 -0.977 -0.01° +table 0.867 1.839 0.417 1.955 -0.000 -1.219 -90.12° +floor 4.782 -0.002 2.997 -0.057 0.001 -0.001 -0.02° +_scene_ 0.065 0.000 0.022 -5.674 -0.005 -5.716 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.242, 0.563, 0.426] + !! OVERLAP: bed <-> floor depth=[2.395, -0.002, 2.260] + !! OVERLAP: nightstand <-> floor depth=[0.501, -0.002, 0.293] + !! OVERLAP: chair <-> table depth=[0.145, 0.571, 0.239] + !! OVERLAP: chair <-> floor depth=[0.553, -0.002, 0.545] + !! OVERLAP: table <-> floor depth=[0.813, -0.002, 0.417] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0093, Room Outer Loss: 0.5258, Walkable Loss: 2.0069 (Center Penalty: 2.4556, C1 Heatmap: 0.9277, C2 Repulsion: 4.0799), Relational Loss: 0.0336 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.877 1.339 2.155 -0.334 0.004 -0.465 0.05° +nightstand 0.546 0.771 0.311 0.893 0.000 -1.441 0.05° +nightstand 0.539 0.764 0.381 -1.625 0.001 -1.461 -0.01° +chair 1.283 0.497 0.714 -0.523 -0.000 0.901 -0.01° +lamp 0.675 0.826 0.664 -0.330 2.054 -0.031 0.04° +wardrobe 2.092 2.388 0.625 1.475 -0.000 -0.288 -90.10° +floor 4.147 -0.003 3.132 -0.006 0.000 -0.016 -0.05° +_scene_ 0.067 -0.000 0.021 -5.671 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[1.283, 0.497, 0.069] + !! OVERLAP: bed <-> wardrobe depth=[0.176, 1.339, 0.625] + !! OVERLAP: bed <-> floor depth=[1.877, -0.003, 2.155] + !! OVERLAP: nightstand <-> floor depth=[0.546, -0.003, 0.297] + !! OVERLAP: nightstand <-> floor depth=[0.539, -0.003, 0.311] + !! OVERLAP: chair <-> floor depth=[1.283, -0.003, 0.714] + !! OVERLAP: wardrobe <-> floor depth=[1.639, -0.003, 0.625] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1615 | 8 objects +============================================================ +Final Step Collision Loss: 0.0040, Room Outer Loss: 0.8895, Walkable Loss: 2.0614 (Center Penalty: 2.2942, C1 Heatmap: 1.0686, C2 Repulsion: 4.8690), Relational Loss: 0.0402 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.956 0.736 2.053 0.494 -0.001 0.532 -90.04° +wardrobe 2.153 2.342 0.711 0.366 -0.001 -1.561 0.01° +nightstand 0.505 0.526 0.447 1.213 -0.000 -0.791 -90.15° +nightstand 0.586 0.512 0.507 1.289 0.004 1.680 -90.08° +lamp 0.639 0.103 0.605 0.102 2.469 0.284 -0.05° +tv_stand 2.063 0.643 0.476 -1.401 0.001 0.293 89.99° +floor 3.189 -0.002 4.051 -0.005 -0.000 0.053 -0.01° +_scene_ 0.067 0.001 0.021 -5.672 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.476, 0.512, 0.133] + !! OVERLAP: bed <-> tv_stand depth=[0.114, 0.643, 0.476] + !! OVERLAP: bed <-> floor depth=[1.956, -0.002, 2.053] + !! OVERLAP: wardrobe <-> floor depth=[2.153, -0.002, 0.711] + !! OVERLAP: nightstand <-> floor depth=[0.505, -0.002, 0.447] + !! OVERLAP: nightstand <-> floor depth=[0.586, -0.002, 0.507] + !! OVERLAP: tv_stand <-> floor depth=[1.229, -0.002, 0.476] +============================================================ + + +============================================================ +SCENE: MasterBedroom-8979 | 6 objects +============================================================ +Final Step Collision Loss: 0.0422, Room Outer Loss: 0.3053, Walkable Loss: 1.5692 (Center Penalty: 1.6754, C1 Heatmap: 0.8675, C2 Repulsion: 3.8448), Relational Loss: 0.0758 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.686 2.311 0.539 -1.463 0.000 -0.622 89.99° +bed 2.161 1.205 2.367 0.310 -0.000 -0.321 -0.00° +nightstand 0.430 0.474 0.340 1.473 0.002 -1.329 -0.01° +nightstand 0.586 0.501 0.537 -0.939 0.002 -1.101 0.03° +floor 4.094 -0.003 2.979 -0.025 -0.000 -0.014 -0.02° +_scene_ 0.071 0.000 0.022 -5.671 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.150, 1.205, 0.539] + !! OVERLAP: wardrobe <-> nightstand depth=[0.586, 0.501, 0.058] + !! OVERLAP: wardrobe <-> floor depth=[1.452, -0.003, 0.539] + !! OVERLAP: bed <-> nightstand depth=[0.133, 0.474, 0.340] + !! OVERLAP: bed <-> nightstand depth=[0.124, 0.501, 0.537] + !! OVERLAP: bed <-> floor depth=[2.161, -0.003, 2.366] + !! OVERLAP: nightstand <-> floor depth=[0.430, -0.003, 0.340] + !! OVERLAP: nightstand <-> floor depth=[0.586, -0.003, 0.537] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6631 | 8 objects +============================================================ +Final Step Collision Loss: 0.0264, Room Outer Loss: 0.2104, Walkable Loss: 1.9210 (Center Penalty: 2.1814, C1 Heatmap: 0.9689, C2 Repulsion: 4.4280), Relational Loss: 0.0275 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.893 1.366 2.284 -0.640 0.002 0.014 89.89° +nightstand 0.584 0.572 0.458 -1.348 0.001 1.198 89.99° +wardrobe 2.041 2.517 0.633 -0.383 0.002 1.453 -180.00° +chair 0.728 0.848 0.671 -1.372 -0.001 -1.692 5.81° +tv_stand 1.248 0.453 0.223 1.274 -0.002 -0.683 -89.92° +lamp 0.616 0.182 0.615 0.024 2.422 -0.449 0.03° +floor 3.451 -0.001 4.454 -0.016 0.000 0.006 -0.00° +_scene_ 0.071 -0.001 0.022 -5.673 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.530, 0.572, 0.187] + !! OVERLAP: bed <-> wardrobe depth=[1.710, 1.366, 0.020] + !! OVERLAP: bed <-> floor depth=[1.893, -0.001, 2.284] + !! OVERLAP: nightstand <-> wardrobe depth=[0.348, 0.572, 0.290] + !! OVERLAP: nightstand <-> floor depth=[0.584, -0.001, 0.458] + !! OVERLAP: wardrobe <-> floor depth=[2.041, -0.001, 0.633] + !! OVERLAP: chair <-> floor depth=[0.728, -0.001, 0.671] + !! OVERLAP: tv_stand <-> floor depth=[1.060, -0.001, 0.223] +============================================================ + + +============================================================ +SCENE: MasterBedroom-58086 | 5 objects +============================================================ +Final Step Collision Loss: 0.0496, Room Outer Loss: 0.0261, Walkable Loss: 1.4499 (Center Penalty: 1.7119, C1 Heatmap: 0.9802, C2 Repulsion: 2.0188), Relational Loss: 0.0437 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.965 0.769 2.220 -0.215 0.001 -0.420 89.95° +wardrobe 2.726 2.364 0.835 -0.123 0.001 1.188 -179.93° +chair 0.514 1.048 0.493 -0.500 -0.002 -1.639 -105.78° +floor 3.052 -0.002 3.802 0.004 0.000 -0.069 -0.03° +_scene_ 0.040 0.015 0.032 -5.545 -0.006 -5.617 -57.75° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.514, 0.769, 0.138] + !! OVERLAP: bed <-> floor depth=[1.965, -0.002, 2.220] + !! OVERLAP: wardrobe <-> floor depth=[2.726, -0.002, 0.835] + !! OVERLAP: chair <-> floor depth=[0.514, -0.002, 0.493] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34041 | 7 objects +============================================================ +Final Step Collision Loss: 0.0139, Room Outer Loss: 0.9703, Walkable Loss: 2.0950 (Center Penalty: 2.6445, C1 Heatmap: 1.0103, C2 Repulsion: 3.6868), Relational Loss: 0.0410 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.632 1.054 2.110 0.370 0.002 -0.354 0.06° +nightstand 0.578 0.620 0.434 -0.679 0.001 -1.083 0.03° +wardrobe 3.857 2.629 0.613 -1.158 -0.001 -0.214 89.89° +nightstand 0.459 0.553 0.476 1.728 0.001 -1.213 -0.05° +lamp 0.948 0.857 0.904 0.169 2.103 0.063 -0.00° +floor 4.402 -0.002 2.719 -0.010 0.000 -0.021 -0.05° +_scene_ 0.070 0.001 0.023 -5.672 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.055, 0.620, 0.434] + !! OVERLAP: bed <-> wardrobe depth=[1.216, 1.054, 0.613] + !! OVERLAP: bed <-> floor depth=[1.632, -0.002, 2.082] + !! OVERLAP: nightstand <-> floor depth=[0.578, -0.002, 0.434] + !! OVERLAP: wardrobe <-> floor depth=[2.981, -0.002, 0.613] + !! OVERLAP: nightstand <-> floor depth=[0.459, -0.002, 0.405] +============================================================ + + +============================================================ +SCENE: MasterBedroom-63654 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5450 (Center Penalty: 2.2539, C1 Heatmap: 0.6555, C2 Repulsion: 1.5583), Relational Loss: 0.0746 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.466 0.549 0.386 1.324 0.001 -1.620 0.01° +nightstand 0.622 0.534 0.527 -1.437 0.001 -1.477 0.04° +lamp 1.117 1.026 1.070 -0.233 1.988 -0.236 0.02° +bed 2.008 1.138 2.443 -0.116 -0.001 -0.613 0.01° +floor 4.315 -0.002 3.742 -0.123 -0.000 0.067 -0.04° +_scene_ 0.069 0.001 0.022 -5.668 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.466, -0.002, 0.376] + !! OVERLAP: nightstand <-> floor depth=[0.622, -0.002, 0.527] + !! OVERLAP: bed <-> floor depth=[2.008, -0.002, 2.412] +============================================================ + + +============================================================ +SCENE: Bedroom-21085 | 8 objects +============================================================ +Final Step Collision Loss: 0.0014, Room Outer Loss: 0.6453, Walkable Loss: 2.1294 (Center Penalty: 2.8475, C1 Heatmap: 0.7948, C2 Repulsion: 3.8777), Relational Loss: 0.0563 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.268 0.600 0.228 1.713 0.002 1.498 -90.12° +nightstand 0.579 0.688 0.466 1.541 0.001 -1.051 0.01° +nightstand 0.511 0.834 0.497 -1.012 0.001 -1.038 0.03° +bed 1.936 1.103 2.292 0.178 0.000 -0.122 0.02° +wardrobe 1.592 2.472 0.490 -1.645 -0.001 -0.380 89.86° +lamp 0.936 0.885 0.900 0.200 1.912 0.065 -0.00° +floor 3.790 -0.001 3.137 0.014 -0.001 0.037 -0.04° +_scene_ 0.069 -0.000 0.021 -5.674 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.268, -0.001, 0.222] + !! OVERLAP: nightstand <-> floor depth=[0.579, -0.001, 0.466] + !! OVERLAP: nightstand <-> bed depth=[0.033, 0.834, 0.478] + !! OVERLAP: nightstand <-> floor depth=[0.511, -0.001, 0.497] + !! OVERLAP: bed <-> floor depth=[1.936, -0.001, 2.292] + !! OVERLAP: wardrobe <-> floor depth=[1.031, -0.001, 0.490] +============================================================ + + +============================================================ +SCENE: Bedroom-13675 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3510, Walkable Loss: 1.2181 (Center Penalty: 1.5045, C1 Heatmap: 0.9291, C2 Repulsion: 0.9424), Relational Loss: 0.0250 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.426 0.833 2.154 -0.681 0.001 -0.289 89.96° +wardrobe 2.339 2.482 0.850 1.256 0.002 -0.123 -90.13° +lamp 0.611 0.800 0.610 -0.261 1.839 -0.625 179.86° +floor 3.968 0.000 3.623 0.069 -0.000 -0.306 -0.03° +_scene_ 0.050 -0.001 0.013 -5.683 -0.006 -5.720 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.445, 0.833, 0.850] + !! OVERLAP: bed <-> floor depth=[2.426, 0.000, 2.154] + !! OVERLAP: wardrobe <-> floor depth=[1.966, 0.000, 0.850] +============================================================ + + +============================================================ +SCENE: MasterBedroom-32488 | 9 objects +============================================================ +Final Step Collision Loss: 0.0253, Room Outer Loss: 0.0211, Walkable Loss: 1.6352 (Center Penalty: 1.1041, C1 Heatmap: 1.1877, C2 Repulsion: 6.0810), Relational Loss: 0.0311 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.042 1.084 0.477 -2.349 -0.001 -1.180 -0.04° +nightstand 0.531 0.559 0.394 0.551 -0.001 -1.133 -0.09° +chair 0.573 0.491 0.524 -2.263 -0.004 -0.679 -89.90° +bed 2.111 1.465 2.393 -0.820 -0.001 -0.102 0.00° +cabinet 0.797 1.028 0.359 -2.183 0.002 1.506 179.99° +lamp 0.866 0.902 0.850 -0.952 1.849 0.057 -0.02° +wardrobe 3.039 2.332 0.592 0.639 -0.000 0.127 -90.06° +floor 5.901 -0.000 3.240 -0.577 -0.000 0.247 0.06° +_scene_ 0.071 0.001 0.022 -5.671 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.048, 1.084, 0.357] + !! OVERLAP: table <-> floor depth=[1.042, -0.000, 0.431] + !! OVERLAP: nightstand <-> floor depth=[0.531, -0.000, 0.394] + !! OVERLAP: chair <-> floor depth=[0.573, -0.000, 0.524] + !! OVERLAP: bed <-> wardrobe depth=[1.116, 1.465, 0.592] + !! OVERLAP: bed <-> floor depth=[2.111, -0.000, 2.393] + !! OVERLAP: cabinet <-> floor depth=[0.797, -0.000, 0.359] + !! OVERLAP: wardrobe <-> floor depth=[3.039, -0.000, 0.592] +============================================================ + + +============================================================ +SCENE: MasterBedroom-45545 | 8 objects +============================================================ +Final Step Collision Loss: 0.1029, Room Outer Loss: 0.6193, Walkable Loss: 2.2694 (Center Penalty: 2.4885, C1 Heatmap: 1.0641, C2 Repulsion: 5.9946), Relational Loss: 0.0370 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.971 1.473 0.313 1.531 0.002 1.472 179.97° +bed 2.043 1.634 2.341 0.228 0.001 -0.427 0.02° +nightstand 0.543 0.541 0.465 -0.982 0.000 -1.446 0.01° +nightstand 0.523 0.660 0.521 1.589 0.001 -1.334 0.00° +lamp 0.914 1.546 0.818 0.049 1.193 -0.126 0.02° +wardrobe 2.053 2.439 0.684 -1.508 0.001 -0.532 89.99° +floor 4.058 -0.003 3.352 0.035 0.002 -0.004 -0.01° +_scene_ 0.074 0.001 0.024 -5.672 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.971, -0.003, 0.313] + !! OVERLAP: bed <-> nightstand depth=[0.083, 0.541, 0.383] + !! OVERLAP: bed <-> lamp depth=[0.914, 0.397, 0.818] + !! OVERLAP: bed <-> wardrobe depth=[0.312, 1.634, 0.684] + !! OVERLAP: bed <-> floor depth=[2.043, -0.003, 2.341] + !! OVERLAP: nightstand <-> floor depth=[0.543, -0.003, 0.465] + !! OVERLAP: nightstand <-> floor depth=[0.523, -0.003, 0.521] + !! OVERLAP: wardrobe <-> floor depth=[1.513, -0.003, 0.684] +============================================================ + + +============================================================ +SCENE: Bedroom-18759 | 8 objects +============================================================ +Final Step Collision Loss: 0.0332, Room Outer Loss: 0.4948, Walkable Loss: 1.8256 (Center Penalty: 2.1055, C1 Heatmap: 0.9628, C2 Repulsion: 3.8767), Relational Loss: 0.0269 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.998 2.157 1.982 -0.469 -0.001 0.367 89.79° +nightstand 0.495 0.462 0.339 -1.437 0.002 -0.255 90.00° +nightstand 0.477 0.476 0.409 -1.371 0.002 1.671 89.98° +tv_stand 1.858 0.574 0.502 1.220 -0.001 0.231 -90.02° +lamp 0.756 0.955 0.689 -0.107 1.553 0.592 0.14° +wardrobe 1.970 2.373 0.661 -0.590 -0.002 -1.678 0.05° +floor 3.418 -0.002 4.680 -0.034 0.000 0.004 -0.02° +_scene_ 0.070 -0.000 0.021 -5.663 -0.004 -5.705 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.279, 0.462, 0.339] + !! OVERLAP: bed <-> tv_stand depth=[0.239, 0.574, 0.502] + !! OVERLAP: bed <-> lamp depth=[0.756, 0.002, 0.689] + !! OVERLAP: bed <-> floor depth=[1.998, -0.002, 1.982] + !! OVERLAP: nightstand <-> floor depth=[0.495, -0.002, 0.339] + !! OVERLAP: nightstand <-> floor depth=[0.477, -0.002, 0.409] + !! OVERLAP: tv_stand <-> floor depth=[1.383, -0.002, 0.502] + !! OVERLAP: wardrobe <-> floor depth=[1.970, -0.002, 0.661] +============================================================ + + +============================================================ +SCENE: MasterBedroom-29436 | 8 objects +============================================================ +Final Step Collision Loss: 0.0051, Room Outer Loss: 0.0872, Walkable Loss: 1.5272 (Center Penalty: 1.7092, C1 Heatmap: 0.9267, C2 Repulsion: 3.0194), Relational Loss: 0.0018 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.977 0.897 2.294 0.314 0.000 1.067 179.93° +wardrobe 1.601 2.267 0.641 -1.772 -0.000 -1.408 0.07° +tv_stand 2.005 0.535 0.479 0.170 0.001 -1.375 0.02° +table 0.446 1.138 0.382 -0.826 0.002 1.747 89.91° +table 0.556 1.239 0.423 2.086 0.001 1.947 -90.07° +lamp 1.006 0.960 0.987 0.130 1.715 0.419 0.01° +floor 4.773 -0.004 4.849 -0.000 0.001 0.279 -0.02° +_scene_ 0.073 0.001 0.021 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.072, 0.897, 0.382] + !! OVERLAP: bed <-> floor depth=[1.977, -0.004, 2.294] + !! OVERLAP: wardrobe <-> floor depth=[1.416, -0.004, 0.641] + !! OVERLAP: tv_stand <-> floor depth=[2.005, -0.004, 0.479] + !! OVERLAP: table <-> floor depth=[0.446, -0.004, 0.382] + !! OVERLAP: table <-> floor depth=[0.556, -0.004, 0.423] +============================================================ + + +============================================================ +SCENE: Bedroom-15797 | 7 objects +============================================================ +Final Step Collision Loss: 0.0374, Room Outer Loss: 0.1455, Walkable Loss: 2.0769 (Center Penalty: 2.7737, C1 Heatmap: 0.8218, C2 Repulsion: 3.6128), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.197 1.414 2.208 0.138 -0.001 -0.294 -89.99° +cabinet 1.372 0.951 0.508 0.497 0.000 1.676 179.93° +nightstand 0.688 0.783 0.536 1.149 0.001 -1.396 -90.11° +nightstand 0.595 0.703 0.530 1.072 0.001 1.095 -89.96° +lamp 0.460 0.325 0.427 -0.004 2.389 -0.021 -0.08° +floor 2.804 -0.003 3.730 -0.004 -0.001 -0.002 -0.03° +_scene_ 0.064 0.001 0.022 -5.673 -0.005 -5.713 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.432, 0.783, 0.269] + !! OVERLAP: bed <-> floor depth=[2.197, -0.003, 2.208] + !! OVERLAP: cabinet <-> floor depth=[1.372, -0.003, 0.441] + !! OVERLAP: nightstand <-> floor depth=[0.593, -0.003, 0.536] + !! OVERLAP: nightstand <-> floor depth=[0.595, -0.003, 0.530] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13658 | 7 objects +============================================================ +Final Step Collision Loss: 0.0010, Room Outer Loss: 0.0198, Walkable Loss: 1.8431 (Center Penalty: 2.5213, C1 Heatmap: 0.8683, C2 Repulsion: 2.3516), Relational Loss: 0.0558 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.689 2.372 0.568 -0.156 -0.001 -1.926 0.04° +bed 2.004 0.960 2.108 -0.339 -0.001 0.430 89.99° +nightstand 0.410 0.506 0.298 -1.420 0.000 -1.040 90.04° +nightstand 0.478 0.522 0.373 -1.337 0.001 1.654 90.02° +lamp 0.713 0.342 0.711 0.045 2.141 -0.003 -0.02° +floor 3.408 -0.001 4.628 -0.015 0.001 0.034 -0.06° +_scene_ 0.068 -0.002 0.018 -5.668 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.689, -0.001, 0.568] + !! OVERLAP: bed <-> nightstand depth=[0.243, 0.522, 0.016] + !! OVERLAP: bed <-> floor depth=[2.004, -0.001, 2.108] + !! OVERLAP: nightstand <-> floor depth=[0.410, -0.001, 0.298] + !! OVERLAP: nightstand <-> floor depth=[0.478, -0.001, 0.373] +============================================================ + + +============================================================ +SCENE: Bedroom-53437 | 7 objects +============================================================ +Final Step Collision Loss: 0.0119, Room Outer Loss: 0.2865, Walkable Loss: 2.0073 (Center Penalty: 2.7055, C1 Heatmap: 0.7458, C2 Repulsion: 3.5625), Relational Loss: 0.0549 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.838 0.992 2.008 0.119 0.000 0.288 179.89° +lamp 0.616 0.309 0.566 0.260 2.398 0.109 -0.07° +wardrobe 1.753 2.370 0.583 -1.308 -0.002 0.411 89.95° +nightstand 0.512 0.641 0.360 -0.902 0.003 1.262 179.93° +nightstand 0.565 0.602 0.464 1.479 0.001 1.136 179.96° +floor 4.093 0.002 2.851 -0.011 -0.000 0.005 0.12° +_scene_ 0.069 -0.001 0.018 -5.677 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.368, 0.992, 0.583] + !! OVERLAP: bed <-> nightstand depth=[0.154, 0.641, 0.210] + !! OVERLAP: bed <-> floor depth=[1.838, 0.002, 2.008] + !! OVERLAP: wardrobe <-> floor depth=[1.625, 0.002, 0.583] + !! OVERLAP: nightstand <-> floor depth=[0.512, 0.002, 0.348] + !! OVERLAP: nightstand <-> floor depth=[0.565, 0.002, 0.464] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1096 | 8 objects +============================================================ +Final Step Collision Loss: 0.0753, Room Outer Loss: 0.6072, Walkable Loss: 2.0958 (Center Penalty: 2.4821, C1 Heatmap: 0.8888, C2 Repulsion: 4.9922), Relational Loss: 0.0094 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.956 0.986 2.089 0.521 -0.001 -0.436 0.02° +table 1.183 1.057 0.289 0.173 0.008 -1.410 0.02° +wardrobe 2.160 2.174 0.535 -1.175 -0.002 0.138 89.92° +lamp 0.527 0.414 0.509 0.261 2.248 -0.037 -0.00° +chair 0.505 0.632 0.512 -0.827 0.009 -0.760 -154.88° +bookshelf 0.798 1.646 0.301 1.173 0.003 1.185 179.97° +floor 3.278 -0.003 2.990 -0.003 0.001 -0.012 -0.02° +_scene_ 0.070 -0.000 0.020 -5.671 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[1.183, 0.986, 0.215] + !! OVERLAP: bed <-> wardrobe depth=[0.362, 0.986, 0.535] + !! OVERLAP: bed <-> floor depth=[1.956, -0.003, 2.089] + !! OVERLAP: table <-> floor depth=[1.183, -0.003, 0.241] + !! OVERLAP: wardrobe <-> floor depth=[1.547, -0.003, 0.535] + !! OVERLAP: chair <-> floor depth=[0.505, -0.003, 0.512] + !! OVERLAP: bookshelf <-> floor depth=[0.798, -0.003, 0.301] +============================================================ + + +============================================================ +SCENE: Bedroom-20397 | 11 objects +============================================================ +Final Step Collision Loss: 0.0071, Room Outer Loss: 0.3873, Walkable Loss: 2.6137 (Center Penalty: 2.4538, C1 Heatmap: 1.1323, C2 Repulsion: 9.3384), Relational Loss: 0.0209 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.076 2.579 0.482 -1.674 -0.001 0.673 89.92° +bed 2.179 0.710 2.295 0.354 0.000 0.449 -179.99° +nightstand 0.574 0.734 0.525 1.622 0.001 1.475 179.95° +nightstand 0.572 0.809 0.437 -1.290 0.004 1.587 179.94° +cabinet 1.537 0.903 0.390 0.136 0.001 -1.437 -0.02° +table 0.423 1.647 0.466 1.929 -0.004 -1.087 -65.55° +lamp 0.442 0.865 0.426 -1.243 1.349 1.362 -0.01° +lamp 0.747 0.882 0.755 1.665 1.176 1.477 0.04° +lamp 0.573 0.194 0.554 0.192 2.341 0.112 -0.02° +floor 4.741 -0.003 3.494 -0.028 -0.000 -0.015 -0.02° +_scene_ 0.072 0.001 0.023 -5.672 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.099, 0.710, 0.482] + !! OVERLAP: wardrobe <-> floor depth=[1.762, -0.003, 0.482] + !! OVERLAP: bed <-> nightstand depth=[0.110, 0.710, 0.384] + !! OVERLAP: bed <-> floor depth=[2.179, -0.003, 2.295] + !! OVERLAP: nightstand <-> floor depth=[0.574, -0.003, 0.519] + !! OVERLAP: nightstand <-> floor depth=[0.572, -0.003, 0.363] + !! OVERLAP: cabinet <-> floor depth=[1.537, -0.003, 0.390] + !! OVERLAP: table <-> floor depth=[0.423, -0.003, 0.466] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6261 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4414 (Center Penalty: 1.7194, C1 Heatmap: 0.8390, C2 Repulsion: 2.4604), Relational Loss: 0.0631 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.478 0.527 0.409 1.202 0.000 -0.660 -90.08° +lamp 1.010 0.657 0.940 0.028 2.061 0.599 0.06° +bed 1.974 1.210 2.319 0.402 -0.001 0.768 -89.98° +wardrobe 2.069 2.376 0.734 0.222 -0.000 -1.263 -0.02° +floor 3.098 -0.000 3.855 -0.014 -0.001 0.226 -0.06° +_scene_ 0.072 0.000 0.021 -5.669 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.478, -0.000, 0.409] + !! OVERLAP: bed <-> floor depth=[1.974, -0.000, 2.319] + !! OVERLAP: wardrobe <-> floor depth=[2.069, -0.000, 0.734] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9923 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1883, Walkable Loss: 1.3710 (Center Penalty: 1.6652, C1 Heatmap: 0.9039, C2 Repulsion: 1.7681), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.964 0.779 2.107 0.500 -0.001 -0.679 -0.00° +tv_stand 1.815 0.524 0.430 0.547 0.002 1.311 179.93° +wardrobe 1.989 2.493 0.599 -1.235 -0.001 -0.409 89.98° +lamp 0.327 0.851 0.317 0.432 1.733 -0.535 -0.03° +floor 3.914 -0.001 3.592 -0.005 0.001 -0.027 -0.01° +_scene_ 0.071 0.002 0.022 -5.670 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.241, 0.779, 0.599] + !! OVERLAP: bed <-> floor depth=[1.964, -0.001, 2.107] + !! OVERLAP: tv_stand <-> floor depth=[1.815, -0.001, 0.430] + !! OVERLAP: wardrobe <-> floor depth=[1.721, -0.001, 0.599] +============================================================ + + +============================================================ +SCENE: Bedroom-38427 | 7 objects +============================================================ +Final Step Collision Loss: 0.0098, Room Outer Loss: 0.0000, Walkable Loss: 1.6840 (Center Penalty: 2.3504, C1 Heatmap: 0.6740, C2 Repulsion: 2.3921), Relational Loss: 0.0328 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.968 0.975 0.895 0.004 2.264 -0.099 -0.00° +wardrobe 1.229 1.737 0.549 0.366 0.003 1.317 -179.90° +bed 2.056 0.831 2.052 -0.268 -0.000 -0.687 0.01° +nightstand 0.501 0.452 0.382 -1.303 0.001 -1.531 -0.02° +nightstand 0.503 0.518 0.406 0.991 0.001 -1.606 0.02° +floor 3.236 -0.001 3.720 -0.016 0.000 0.023 -0.01° +_scene_ 0.069 0.001 0.019 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.229, -0.001, 0.549] + !! OVERLAP: bed <-> nightstand depth=[0.243, 0.452, 0.373] + !! OVERLAP: bed <-> nightstand depth=[0.021, 0.518, 0.310] + !! OVERLAP: bed <-> floor depth=[2.056, -0.001, 2.052] + !! OVERLAP: nightstand <-> floor depth=[0.501, -0.001, 0.382] + !! OVERLAP: nightstand <-> floor depth=[0.503, -0.001, 0.406] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48379 | 6 objects +============================================================ +Final Step Collision Loss: 0.1005, Room Outer Loss: 0.8083, Walkable Loss: 1.8970 (Center Penalty: 2.8429, C1 Heatmap: 0.7894, C2 Repulsion: 1.5976), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.191 1.973 2.051 0.173 -0.000 -0.031 -90.21° +wardrobe 0.853 1.682 0.424 0.719 -0.001 -1.795 0.08° +lamp 0.424 0.377 0.425 -0.058 2.387 -0.252 -0.04° +desk 1.539 0.759 0.797 1.208 -0.001 1.094 -89.91° +floor 2.576 0.008 4.030 0.000 -0.000 0.053 -0.02° +_scene_ 0.085 -0.001 0.021 -5.667 -0.005 -5.703 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[0.831, 0.759, 0.298] + !! OVERLAP: bed <-> floor depth=[2.191, 0.008, 2.051] + !! OVERLAP: wardrobe <-> floor depth=[0.853, 0.008, 0.379] + !! OVERLAP: desk <-> floor depth=[0.850, 0.008, 0.797] +============================================================ + + +============================================================ +SCENE: Bedroom-74674 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4812 (Center Penalty: 2.4091, C1 Heatmap: 0.5137, C2 Repulsion: 0.7125), Relational Loss: 0.0734 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.769 1.301 1.930 0.312 -0.001 0.516 -90.11° +table 0.719 0.765 0.589 1.106 -0.000 -1.117 -90.00° +lamp 0.457 0.636 0.327 0.147 2.168 0.013 -0.04° +floor 2.986 -0.003 4.171 -0.013 0.000 0.003 -0.02° +_scene_ 0.050 0.014 0.032 -5.604 -0.005 -5.673 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.769, -0.003, 1.930] + !! OVERLAP: table <-> floor depth=[0.719, -0.003, 0.589] +============================================================ + + +============================================================ +SCENE: MasterBedroom-41843 | 11 objects +============================================================ +Final Step Collision Loss: 0.0043, Room Outer Loss: 0.2099, Walkable Loss: 1.7572 (Center Penalty: 1.5155, C1 Heatmap: 0.9364, C2 Repulsion: 6.2490), Relational Loss: 0.0194 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.723 0.816 0.730 -0.083 1.984 0.769 -0.02° +wardrobe 1.030 2.207 0.656 0.461 -0.000 -2.133 0.05° +wardrobe 1.355 2.146 0.542 0.970 0.001 -1.622 0.07° +bed 1.793 1.211 2.110 0.550 -0.000 0.682 -90.00° +nightstand 0.506 0.567 0.469 1.520 0.000 -0.808 -90.01° +nightstand 0.539 0.591 0.539 1.426 0.001 1.962 -90.10° +cabinet 0.982 0.751 0.468 -1.445 0.001 0.912 90.01° +chair 0.643 0.818 0.646 -1.025 0.001 -1.608 36.98° +table 0.435 0.447 0.383 -1.103 0.006 -1.023 17.96° +floor 3.584 -0.000 4.948 -0.005 -0.000 0.047 -0.02° +_scene_ 0.070 0.000 0.023 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> wardrobe depth=[0.684, 2.146, 0.087] + !! OVERLAP: wardrobe <-> floor depth=[1.030, -0.000, 0.622] + !! OVERLAP: wardrobe <-> floor depth=[1.355, -0.000, 0.542] + !! OVERLAP: bed <-> nightstand depth=[0.290, 0.591, 0.044] + !! OVERLAP: bed <-> floor depth=[1.793, -0.000, 2.110] + !! OVERLAP: nightstand <-> floor depth=[0.506, -0.000, 0.469] + !! OVERLAP: nightstand <-> floor depth=[0.539, -0.000, 0.539] + !! OVERLAP: cabinet <-> floor depth=[0.843, -0.000, 0.468] + !! OVERLAP: chair <-> floor depth=[0.643, -0.000, 0.646] + !! OVERLAP: table <-> floor depth=[0.435, -0.000, 0.383] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21047 | 7 objects +============================================================ +Final Step Collision Loss: 0.0135, Room Outer Loss: 0.2114, Walkable Loss: 1.8489 (Center Penalty: 2.3429, C1 Heatmap: 0.7625, C2 Repulsion: 3.7243), Relational Loss: 0.0446 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.637 2.408 0.573 1.153 0.001 -0.544 -90.00° +bed 1.855 1.159 2.310 -0.378 0.000 -0.422 0.04° +nightstand 0.625 0.626 0.562 -1.790 0.001 -1.255 0.00° +nightstand 0.538 0.584 0.444 0.705 0.001 -1.289 -0.00° +lamp 0.921 1.121 0.963 -0.331 1.621 0.059 0.02° +floor 3.890 -0.001 2.948 -0.025 -0.001 0.001 0.02° +_scene_ 0.069 -0.000 0.021 -5.665 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.215, 1.159, 0.573] + !! OVERLAP: wardrobe <-> floor depth=[1.585, -0.001, 0.573] + !! OVERLAP: bed <-> nightstand depth=[0.113, 0.584, 0.444] + !! OVERLAP: bed <-> floor depth=[1.855, -0.001, 2.207] + !! OVERLAP: nightstand <-> floor depth=[0.492, -0.001, 0.499] + !! OVERLAP: nightstand <-> floor depth=[0.538, -0.001, 0.406] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34469 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1872, Walkable Loss: 1.3627 (Center Penalty: 1.8722, C1 Heatmap: 0.7872, C2 Repulsion: 1.1172), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.133 0.913 2.229 -0.683 -0.001 -0.735 0.02° +wardrobe 1.614 2.441 0.612 1.517 0.000 -0.740 -90.08° +table 0.924 1.146 0.571 -1.635 0.001 1.399 179.97° +lamp 0.541 0.449 0.549 -0.231 2.309 -0.405 0.01° +floor 4.521 -0.003 4.585 -0.154 0.000 0.118 -0.04° +_scene_ 0.079 -0.001 0.018 -5.677 -0.005 -5.715 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.133, -0.003, 2.229] + !! OVERLAP: wardrobe <-> floor depth=[1.397, -0.003, 0.612] + !! OVERLAP: table <-> floor depth=[0.924, -0.003, 0.571] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35274 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6190 (Center Penalty: 2.5454, C1 Heatmap: 0.7240, C2 Repulsion: 0.5670), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.699 1.045 0.736 0.233 1.669 0.215 -0.07° +bed 2.195 0.944 2.278 0.303 -0.000 0.212 -90.03° +wardrobe 1.417 2.000 0.447 0.320 -0.000 -1.839 -0.00° +floor 2.894 -0.001 4.376 0.014 -0.001 0.035 -0.02° +_scene_ 0.056 -0.002 0.023 -5.665 -0.006 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[2.195, -0.001, 2.278] + !! OVERLAP: wardrobe <-> floor depth=[1.417, -0.001, 0.447] +============================================================ + + +============================================================ +SCENE: SecondBedroom-66007 | 8 objects +============================================================ +Final Step Collision Loss: 0.0323, Room Outer Loss: 0.5180, Walkable Loss: 2.3946 (Center Penalty: 2.9577, C1 Heatmap: 0.8951, C2 Repulsion: 5.5771), Relational Loss: 0.0386 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.557 1.154 2.313 -0.067 0.001 0.161 179.97° +nightstand 0.433 0.453 0.358 -1.160 0.002 1.041 179.93° +desk 1.161 1.092 0.561 1.387 0.002 1.004 -179.98° +chair 0.503 0.733 0.458 1.431 0.001 0.336 -19.82° +wardrobe 1.892 2.109 0.685 -1.359 -0.002 0.498 89.98° +lamp 0.705 0.243 0.683 -0.056 2.275 -0.060 0.00° +floor 3.928 -0.001 2.608 -0.008 -0.000 -0.004 -0.05° +_scene_ 0.068 -0.000 0.021 -5.673 -0.005 -5.718 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.432, 1.154, 0.685] + !! OVERLAP: bed <-> floor depth=[1.557, -0.001, 2.296] + !! OVERLAP: nightstand <-> floor depth=[0.433, -0.001, 0.358] + !! OVERLAP: desk <-> floor depth=[1.150, -0.001, 0.561] + !! OVERLAP: chair <-> floor depth=[0.503, -0.001, 0.458] + !! OVERLAP: wardrobe <-> floor depth=[1.559, -0.001, 0.685] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6907 | 9 objects +============================================================ +Final Step Collision Loss: 0.0465, Room Outer Loss: 0.4330, Walkable Loss: 1.6554 (Center Penalty: 1.7255, C1 Heatmap: 0.8749, C2 Repulsion: 4.4268), Relational Loss: 0.0277 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.935 1.329 0.418 1.285 0.002 -0.739 -89.95° +table 1.325 1.200 0.618 1.615 -0.001 0.854 -90.19° +nightstand 0.568 0.613 0.433 -1.819 0.003 -1.700 90.01° +chair 1.259 0.489 0.474 -0.077 -0.000 -0.419 0.02° +bed 1.773 1.406 2.097 -1.171 0.002 0.052 89.94° +nightstand 0.613 0.706 0.487 -1.849 0.002 1.227 89.96° +chair 0.543 0.789 0.586 -0.059 -0.001 1.540 89.95° +floor 4.141 -0.004 4.243 -0.159 0.000 -0.001 -0.00° +_scene_ 0.068 0.000 0.021 -5.672 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.935, -0.004, 0.418] + !! OVERLAP: table <-> floor depth=[0.959, -0.004, 0.618] + !! OVERLAP: nightstand <-> floor depth=[0.568, -0.004, 0.433] + !! OVERLAP: chair <-> bed depth=[0.422, 0.489, 0.474] + !! OVERLAP: chair <-> floor depth=[1.259, -0.004, 0.474] + !! OVERLAP: bed <-> nightstand depth=[0.515, 0.706, 0.117] + !! OVERLAP: bed <-> floor depth=[1.773, -0.004, 2.097] + !! OVERLAP: nightstand <-> floor depth=[0.613, -0.004, 0.487] + !! OVERLAP: chair <-> floor depth=[0.543, -0.004, 0.586] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9302 | 7 objects +============================================================ +Final Step Collision Loss: 0.0123, Room Outer Loss: 0.0082, Walkable Loss: 1.3772 (Center Penalty: 1.6786, C1 Heatmap: 0.6969, C2 Repulsion: 2.5916), Relational Loss: 0.0206 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.932 1.348 2.234 -0.190 0.000 0.889 179.96° +nightstand 0.394 0.512 0.332 1.671 -0.002 1.471 179.90° +nightstand 0.485 0.608 0.335 -1.432 0.001 1.726 179.96° +table 0.861 1.053 0.479 1.378 0.000 -1.182 0.06° +chair 0.645 0.491 0.654 -0.325 0.001 -0.646 0.13° +floor 3.882 -0.001 3.895 -0.006 -0.000 0.007 -0.01° +_scene_ 0.073 0.003 0.018 -5.664 -0.004 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.932, -0.001, 2.183] + !! OVERLAP: nightstand <-> floor depth=[0.394, -0.001, 0.332] + !! OVERLAP: nightstand <-> floor depth=[0.485, -0.001, 0.335] + !! OVERLAP: table <-> floor depth=[0.861, -0.001, 0.479] + !! OVERLAP: chair <-> floor depth=[0.645, -0.001, 0.654] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3151 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6935 (Center Penalty: 2.7474, C1 Heatmap: 0.6178, C2 Repulsion: 0.7272), Relational Loss: 0.0710 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.916 1.216 2.429 0.229 0.000 0.407 -90.03° +nightstand 0.489 0.496 0.397 1.239 0.004 -0.937 -90.22° +lamp 0.691 0.962 0.710 0.129 1.775 0.114 -0.00° +floor 3.101 -0.004 3.658 -0.062 0.000 0.038 -0.04° +_scene_ 0.067 0.000 0.017 -5.670 -0.006 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.192, 0.496, 0.069] + !! OVERLAP: bed <-> floor depth=[1.916, -0.004, 2.429] + !! OVERLAP: nightstand <-> floor depth=[0.489, -0.004, 0.397] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13281 | 9 objects +============================================================ +Final Step Collision Loss: 0.0062, Room Outer Loss: 0.1457, Walkable Loss: 1.7235 (Center Penalty: 2.2370, C1 Heatmap: 0.9070, C2 Repulsion: 2.4219), Relational Loss: 0.0518 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.229 1.217 2.145 -0.101 0.001 0.712 179.98° +wardrobe 2.214 2.392 0.596 0.757 -0.000 -1.081 0.02° +nightstand 0.584 0.517 0.480 1.678 0.002 1.722 179.87° +nightstand 0.506 0.512 0.378 -1.291 0.001 1.549 179.91° +lamp 0.550 1.069 0.473 -1.101 1.491 1.533 0.03° +lamp 0.684 0.744 0.722 1.467 1.611 1.526 -0.04° +lamp 0.935 0.928 0.936 0.062 1.788 0.280 -0.02° +floor 3.744 0.001 3.827 -0.029 0.001 0.014 -0.02° +_scene_ 0.066 -0.004 0.024 -5.676 -0.004 -5.719 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.178, 0.512, 0.378] + !! OVERLAP: bed <-> floor depth=[2.229, 0.001, 2.145] + !! OVERLAP: wardrobe <-> floor depth=[2.193, 0.001, 0.596] + !! OVERLAP: nightstand <-> floor depth=[0.457, 0.001, 0.445] + !! OVERLAP: nightstand <-> floor depth=[0.506, 0.001, 0.378] +============================================================ + + +============================================================ +SCENE: MasterBedroom-74105 | 8 objects +============================================================ +Final Step Collision Loss: 0.0092, Room Outer Loss: 0.2886, Walkable Loss: 2.1779 (Center Penalty: 2.6953, C1 Heatmap: 0.8766, C2 Repulsion: 4.7961), Relational Loss: 0.0316 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.450 0.484 0.402 1.423 0.000 0.787 -90.09° +nightstand 0.576 0.551 0.533 1.178 0.002 -1.363 -90.00° +bed 1.531 1.028 2.388 0.381 -0.000 -0.183 -90.00° +bookshelf 1.218 1.712 0.427 -1.162 -0.002 -1.009 89.95° +wardrobe 1.954 2.370 0.640 0.446 -0.000 1.284 179.97° +lamp 1.001 0.863 0.988 0.009 1.710 -0.172 0.05° +floor 3.026 -0.001 3.568 0.001 0.001 -0.024 -0.02° +_scene_ 0.066 0.001 0.019 -5.674 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> wardrobe depth=[0.226, 0.484, 0.024] + !! OVERLAP: nightstand <-> floor depth=[0.316, -0.001, 0.402] + !! OVERLAP: nightstand <-> bed depth=[0.256, 0.551, 0.280] + !! OVERLAP: nightstand <-> floor depth=[0.576, -0.001, 0.533] + !! OVERLAP: bed <-> wardrobe depth=[1.531, 1.028, 0.048] + !! OVERLAP: bed <-> floor depth=[1.531, -0.001, 2.388] + !! OVERLAP: bookshelf <-> floor depth=[0.959, -0.001, 0.427] + !! OVERLAP: wardrobe <-> floor depth=[1.954, -0.001, 0.640] +============================================================ + + +============================================================ +SCENE: Bedroom-837 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.6961, Walkable Loss: 1.8881 (Center Penalty: 2.7118, C1 Heatmap: 0.8822, C2 Repulsion: 1.7934), Relational Loss: 0.0450 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.136 0.720 2.069 0.106 0.000 -0.214 0.07° +wardrobe 2.495 2.225 0.572 -1.329 -0.002 -0.425 89.97° +nightstand 0.518 0.432 0.466 1.460 0.001 -1.072 -0.02° +lamp 0.427 0.134 0.455 0.341 2.414 -0.136 -89.87° +floor 3.723 -0.002 2.832 0.015 -0.002 0.034 -0.09° +_scene_ 0.068 0.000 0.016 -5.675 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.880, 0.720, 0.572] + !! OVERLAP: bed <-> floor depth=[2.136, -0.002, 2.069] + !! OVERLAP: wardrobe <-> floor depth=[1.765, -0.002, 0.572] + !! OVERLAP: nightstand <-> floor depth=[0.518, -0.002, 0.466] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24075 | 6 objects +============================================================ +Final Step Collision Loss: 0.0011, Room Outer Loss: 0.0000, Walkable Loss: 1.7743 (Center Penalty: 2.7627, C1 Heatmap: 0.5886, C2 Repulsion: 1.5751), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.884 1.520 2.260 -0.032 -0.001 0.327 -179.95° +nightstand 0.425 0.484 0.359 -1.203 0.001 1.421 179.86° +nightstand 0.427 0.578 0.340 1.206 0.000 1.224 179.96° +lamp 0.530 0.736 0.546 0.112 2.051 -0.042 -0.01° +floor 3.421 -0.002 3.207 -0.020 0.001 -0.024 -0.00° +_scene_ 0.062 0.001 0.015 -5.673 -0.005 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.884, -0.002, 2.260] + !! OVERLAP: nightstand <-> floor depth=[0.425, -0.002, 0.337] + !! OVERLAP: nightstand <-> floor depth=[0.427, -0.002, 0.340] +============================================================ + + +============================================================ +SCENE: Bedroom-22570 | 7 objects +============================================================ +Final Step Collision Loss: 0.0080, Room Outer Loss: 1.3511, Walkable Loss: 1.8687 (Center Penalty: 2.3169, C1 Heatmap: 1.0287, C2 Repulsion: 2.9880), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.722 0.945 2.104 0.421 -0.005 0.524 -179.93° +nightstand 0.448 0.492 0.393 -0.932 0.003 1.358 179.82° +nightstand 0.590 0.549 0.455 1.512 0.005 1.384 179.97° +lamp 0.622 0.740 0.626 0.169 1.899 0.132 -0.02° +wardrobe 3.999 2.399 0.813 -1.322 -0.001 -0.721 89.97° +floor 4.194 -0.003 3.191 -0.004 0.000 -0.006 -0.03° +_scene_ 0.064 0.002 0.024 -5.674 -0.006 -5.716 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.065, 0.549, 0.419] + !! OVERLAP: bed <-> wardrobe depth=[1.117, 0.945, 0.213] + !! OVERLAP: bed <-> floor depth=[1.722, -0.003, 2.104] + !! OVERLAP: nightstand <-> floor depth=[0.448, -0.003, 0.393] + !! OVERLAP: nightstand <-> floor depth=[0.590, -0.003, 0.433] + !! OVERLAP: wardrobe <-> floor depth=[2.779, -0.003, 0.813] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40255 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0232, Walkable Loss: 1.7680 (Center Penalty: 2.1893, C1 Heatmap: 0.7316, C2 Repulsion: 3.8073), Relational Loss: 0.0261 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.008 2.145 0.476 1.200 -0.000 -2.063 0.07° +wardrobe 1.444 2.275 0.601 -0.880 -0.003 -1.414 0.13° +bed 1.635 1.062 2.073 -0.615 -0.001 0.320 90.03° +nightstand 0.489 0.551 0.408 -1.272 0.005 1.536 90.03° +nightstand 0.527 0.519 0.433 -1.300 0.000 -0.897 89.99° +lamp 0.601 0.821 0.582 -0.182 1.835 0.199 0.01° +floor 3.471 0.002 4.577 0.208 -0.001 -0.008 0.01° +_scene_ 0.069 0.001 0.026 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.008, 0.002, 0.471] + !! OVERLAP: wardrobe <-> floor depth=[1.370, 0.002, 0.601] + !! OVERLAP: bed <-> nightstand depth=[0.404, 0.551, 0.024] + !! OVERLAP: bed <-> nightstand depth=[0.396, 0.519, 0.036] + !! OVERLAP: bed <-> floor depth=[1.635, 0.002, 2.073] + !! OVERLAP: nightstand <-> floor depth=[0.489, 0.002, 0.408] + !! OVERLAP: nightstand <-> floor depth=[0.491, 0.002, 0.433] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9594 | 8 objects +============================================================ +Final Step Collision Loss: 0.0234, Room Outer Loss: 0.7558, Walkable Loss: 2.0612 (Center Penalty: 2.1099, C1 Heatmap: 1.1430, C2 Repulsion: 5.4908), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.390 0.696 0.689 -1.350 -0.001 -1.026 89.97° +bed 2.041 1.085 2.152 0.610 0.000 -0.747 -90.06° +wardrobe 2.683 2.230 0.624 0.182 -0.001 1.284 -179.93° +nightstand 1.012 0.752 0.508 1.472 0.000 0.381 -90.01° +chair 0.410 0.959 0.476 -0.773 0.002 -0.946 -90.18° +lamp 0.693 0.121 0.761 0.179 2.533 -0.263 -0.07° +floor 3.392 -0.001 3.633 -0.003 0.001 -0.011 0.01° +_scene_ 0.069 -0.001 0.019 -5.671 -0.004 -5.722 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.323, 0.696, 0.476] + !! OVERLAP: desk <-> floor depth=[1.044, -0.001, 0.689] + !! OVERLAP: bed <-> nightstand depth=[0.665, 0.752, 0.202] + !! OVERLAP: bed <-> floor depth=[2.041, -0.001, 2.152] + !! OVERLAP: wardrobe <-> floor depth=[2.683, -0.001, 0.624] + !! OVERLAP: nightstand <-> floor depth=[0.727, -0.001, 0.508] + !! OVERLAP: chair <-> floor depth=[0.410, -0.001, 0.476] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18517 | 12 objects +============================================================ +Final Step Collision Loss: 0.0074, Room Outer Loss: 0.3610, Walkable Loss: 2.1256 (Center Penalty: 2.4411, C1 Heatmap: 0.9126, C2 Repulsion: 5.3995), Relational Loss: 0.0213 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.008 1.006 2.211 -0.087 0.003 0.412 180.00° +nightstand 0.569 0.708 0.536 0.991 0.000 1.331 179.99° +nightstand 0.604 0.672 0.482 -1.389 0.001 1.328 -179.96° +wardrobe 2.020 2.563 0.479 -1.760 -0.001 0.454 89.91° +chair 0.430 0.695 0.499 2.052 -0.001 -1.307 -36.16° +table 0.281 0.473 0.295 1.914 -0.000 -0.395 -0.03° +cabinet 0.679 1.218 0.407 1.988 0.001 1.243 -179.99° +lamp 0.892 1.089 0.861 -0.030 1.759 -0.431 -0.04° +lamp 0.216 1.013 0.175 -1.091 1.710 1.236 0.06° +lamp 0.254 0.855 0.256 1.146 1.646 0.802 90.05° +floor 4.959 -0.002 3.295 -0.001 0.000 0.026 -0.04° +_scene_ 0.073 -0.000 0.021 -5.672 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.210, 0.708, 0.454] + !! OVERLAP: bed <-> nightstand depth=[0.004, 0.672, 0.429] + !! OVERLAP: bed <-> wardrobe depth=[0.341, 1.006, 0.479] + !! OVERLAP: bed <-> floor depth=[2.008, -0.002, 2.211] + !! OVERLAP: nightstand <-> floor depth=[0.569, -0.002, 0.536] + !! OVERLAP: nightstand <-> floor depth=[0.604, -0.002, 0.482] + !! OVERLAP: wardrobe <-> floor depth=[1.730, -0.002, 0.479] + !! OVERLAP: chair <-> floor depth=[0.430, -0.002, 0.499] + !! OVERLAP: table <-> floor depth=[0.281, -0.002, 0.295] + !! OVERLAP: cabinet <-> floor depth=[0.679, -0.002, 0.407] +============================================================ + + +============================================================ +SCENE: MasterBedroom-116808 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9634 (Center Penalty: 2.9120, C1 Heatmap: 0.8154, C2 Repulsion: 1.8124), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.887 1.140 2.529 -0.072 0.001 0.072 89.84° +nightstand 0.506 0.691 0.405 -1.070 -0.000 1.342 89.96° +lamp 1.160 0.999 1.104 0.057 1.548 0.238 0.02° +wardrobe 2.090 2.405 0.564 -0.089 -0.001 -1.174 -0.04° +floor 2.653 0.000 3.112 -0.011 0.001 0.004 -0.01° +_scene_ 0.069 0.001 0.020 -5.670 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.199, 0.691, 0.197] + !! OVERLAP: bed <-> wardrobe depth=[1.887, 1.140, 0.300] + !! OVERLAP: bed <-> floor depth=[1.887, 0.000, 2.529] + !! OVERLAP: nightstand <-> floor depth=[0.506, 0.000, 0.405] + !! OVERLAP: wardrobe <-> floor depth=[2.090, 0.000, 0.564] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34912 | 9 objects +============================================================ +Final Step Collision Loss: 0.0190, Room Outer Loss: 0.5901, Walkable Loss: 1.5709 (Center Penalty: 1.1762, C1 Heatmap: 1.0523, C2 Repulsion: 5.6184), Relational Loss: 0.0345 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.007 1.210 0.405 -2.314 -0.001 -1.276 0.03° +nightstand 0.441 0.653 0.409 0.834 -0.000 -1.203 0.06° +chair 0.525 0.535 0.557 -2.026 -0.001 -0.702 -90.49° +bed 2.214 1.490 2.370 -0.809 0.000 -0.288 0.05° +cabinet 0.632 0.865 0.444 -2.022 0.001 1.409 179.97° +lamp 0.821 0.878 0.795 -0.930 1.959 0.218 -0.08° +wardrobe 2.495 2.325 0.608 0.959 0.002 0.206 -89.96° +floor 5.557 -0.001 2.897 -0.462 -0.001 0.229 -0.01° +_scene_ 0.072 0.000 0.031 -5.670 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[0.105, 1.210, 0.399] + !! OVERLAP: table <-> floor depth=[1.007, -0.001, 0.146] + !! OVERLAP: nightstand <-> floor depth=[0.441, -0.001, 0.221] + !! OVERLAP: chair <-> bed depth=[0.152, 0.535, 0.557] + !! OVERLAP: chair <-> floor depth=[0.525, -0.001, 0.557] + !! OVERLAP: bed <-> wardrobe depth=[0.586, 1.490, 0.608] + !! OVERLAP: bed <-> floor depth=[2.214, -0.001, 2.116] + !! OVERLAP: cabinet <-> floor depth=[0.632, -0.001, 0.444] + !! OVERLAP: wardrobe <-> floor depth=[2.495, -0.001, 0.608] +============================================================ + + +============================================================ +SCENE: SecondBedroom-3960 | 6 objects +============================================================ +Final Step Collision Loss: 0.0431, Room Outer Loss: 0.1933, Walkable Loss: 1.4505 (Center Penalty: 1.7641, C1 Heatmap: 0.8521, C2 Repulsion: 2.2765), Relational Loss: 0.1041 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.591 1.537 2.552 -0.090 -0.000 -0.323 89.83° +nightstand 0.419 0.446 0.351 -1.220 0.003 1.046 90.00° +nightstand 0.507 0.512 0.358 -1.375 0.003 -1.531 90.03° +wardrobe 0.956 2.077 0.468 -0.046 0.008 1.719 -179.91° +floor 3.114 -0.002 3.916 -0.006 0.000 0.003 -0.00° +_scene_ 0.069 0.002 0.023 -5.670 -0.004 -5.706 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.375, 0.446, 0.082] + !! OVERLAP: bed <-> nightstand depth=[0.264, 0.512, 0.248] + !! OVERLAP: bed <-> floor depth=[2.591, -0.002, 2.552] + !! OVERLAP: nightstand <-> floor depth=[0.419, -0.002, 0.351] + !! OVERLAP: nightstand <-> floor depth=[0.442, -0.002, 0.358] + !! OVERLAP: wardrobe <-> floor depth=[0.956, -0.002, 0.468] +============================================================ + + +============================================================ +SCENE: MasterBedroom-17206 | 10 objects +============================================================ +Final Step Collision Loss: 0.0210, Room Outer Loss: 0.6481, Walkable Loss: 2.2522 (Center Penalty: 2.3285, C1 Heatmap: 1.0675, C2 Repulsion: 6.6096), Relational Loss: 0.0333 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.075 1.728 2.233 0.540 -0.001 0.283 -90.02° +nightstand 0.583 0.600 0.505 1.325 0.001 1.414 -89.99° +wardrobe 1.739 2.283 0.639 0.530 -0.002 -2.166 0.01° +chair 0.536 0.536 0.500 -1.205 0.000 1.582 90.03° +table 1.001 1.290 0.448 -1.369 0.003 1.530 90.03° +nightstand 0.529 0.596 0.504 1.427 0.000 -1.016 -90.04° +lamp 0.835 1.065 0.830 -0.138 1.710 0.211 -0.03° +tv_stand 1.789 0.547 0.443 -1.303 0.001 0.113 89.96° +floor 3.437 -0.001 5.140 0.019 -0.000 0.092 -0.04° +_scene_ 0.071 0.000 0.023 -5.670 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.544, 0.600, 0.238] + !! OVERLAP: bed <-> nightstand depth=[0.415, 0.596, 0.069] + !! OVERLAP: bed <-> tv_stand depth=[0.089, 0.547, 0.443] + !! OVERLAP: bed <-> floor depth=[2.075, -0.001, 2.233] + !! OVERLAP: nightstand <-> floor depth=[0.583, -0.001, 0.505] + !! OVERLAP: wardrobe <-> floor depth=[1.739, -0.001, 0.631] + !! OVERLAP: chair <-> table depth=[0.536, 0.536, 0.422] + !! OVERLAP: chair <-> floor depth=[0.536, -0.001, 0.500] + !! OVERLAP: table <-> floor depth=[0.830, -0.001, 0.448] + !! OVERLAP: nightstand <-> floor depth=[0.529, -0.001, 0.504] + !! OVERLAP: tv_stand <-> floor depth=[1.291, -0.001, 0.443] +============================================================ + + +============================================================ +SCENE: MasterBedroom-109561 | 8 objects +============================================================ +Final Step Collision Loss: 0.0238, Room Outer Loss: 0.2718, Walkable Loss: 1.9370 (Center Penalty: 2.2980, C1 Heatmap: 0.9944, C2 Repulsion: 3.9018), Relational Loss: 0.0421 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.969 0.987 2.361 -0.414 -0.001 -0.604 -0.03° +lamp 1.076 0.872 1.104 -0.088 1.904 -0.089 -0.04° +tv_stand 1.977 0.504 0.419 -0.237 0.004 1.693 -179.94° +chair 0.535 0.819 0.543 -1.441 0.001 1.520 5.00° +nightstand 0.536 0.810 0.457 -1.315 0.000 -1.650 0.01° +wardrobe 1.637 2.295 0.567 1.119 -0.001 -0.096 -90.06° +floor 3.609 -0.001 4.058 -0.029 -0.001 0.091 -0.02° +_scene_ 0.073 -0.001 0.023 -5.669 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.351, 0.810, 0.363] + !! OVERLAP: bed <-> wardrobe depth=[0.270, 0.987, 0.567] + !! OVERLAP: bed <-> floor depth=[1.969, -0.001, 2.361] + !! OVERLAP: tv_stand <-> chair depth=[0.053, 0.504, 0.307] + !! OVERLAP: tv_stand <-> floor depth=[1.977, -0.001, 0.419] + !! OVERLAP: chair <-> floor depth=[0.535, -0.001, 0.543] + !! OVERLAP: nightstand <-> floor depth=[0.536, -0.001, 0.457] + !! OVERLAP: wardrobe <-> floor depth=[1.475, -0.001, 0.567] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30334 | 11 objects +============================================================ +Final Step Collision Loss: 0.1522, Room Outer Loss: 0.9963, Walkable Loss: 2.4889 (Center Penalty: 2.7123, C1 Heatmap: 1.1123, C2 Repulsion: 6.8782), Relational Loss: 0.0134 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.954 0.978 2.256 0.336 0.000 0.293 179.95° +wardrobe 1.709 2.361 0.546 2.308 -0.002 0.077 -90.08° +wardrobe 2.052 2.367 0.537 2.220 -0.005 0.020 -89.87° +nightstand 0.416 0.600 0.346 1.213 0.001 1.227 179.97° +nightstand 0.497 0.678 0.403 -1.519 0.001 1.284 179.90° +chair 0.856 0.997 1.180 -1.903 0.002 -0.090 39.65° +table 0.690 0.548 0.625 -1.633 0.001 -0.619 -0.00° +lamp 0.390 0.828 0.140 -1.825 1.601 -0.016 -89.82° +lamp 0.703 0.957 0.709 -0.067 1.993 -0.063 -0.02° +floor 5.431 -0.001 2.844 0.052 -0.002 0.002 -0.03° +_scene_ 0.067 -0.000 0.023 -5.672 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.119, 0.978, 0.537] + !! OVERLAP: bed <-> nightstand depth=[0.308, 0.600, 0.346] + !! OVERLAP: bed <-> floor depth=[1.954, -0.001, 2.256] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.709, 2.360, 0.485] + !! OVERLAP: wardrobe <-> floor depth=[1.314, -0.001, 0.546] + !! OVERLAP: wardrobe <-> floor depth=[1.574, -0.001, 0.537] + !! OVERLAP: nightstand <-> floor depth=[0.416, -0.001, 0.346] + !! OVERLAP: nightstand <-> floor depth=[0.497, -0.001, 0.341] + !! OVERLAP: chair <-> table depth=[0.502, 0.548, 0.374] + !! OVERLAP: chair <-> floor depth=[0.856, -0.001, 1.180] + !! OVERLAP: table <-> floor depth=[0.690, -0.001, 0.625] +============================================================ + + +============================================================ +SCENE: Bedroom-54233 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3431, Walkable Loss: 1.9707 (Center Penalty: 2.7277, C1 Heatmap: 0.7336, C2 Repulsion: 3.1338), Relational Loss: 0.0030 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.283 1.561 0.476 0.645 -0.001 -2.391 -0.01° +bed 1.668 1.058 2.164 0.247 -0.000 -0.070 -90.00° +nightstand 0.577 0.458 0.442 1.153 -0.000 -1.208 -89.98° +nightstand 0.424 0.437 0.347 1.255 -0.000 1.372 -90.06° +table 1.057 1.365 0.545 -1.062 -0.004 1.690 89.86° +chair 0.376 0.498 0.341 -0.239 0.006 2.197 -112.86° +lamp 0.710 0.145 0.690 0.099 2.391 0.290 0.01° +floor 2.923 0.000 5.615 -0.020 -0.000 0.127 -0.06° +_scene_ 0.069 0.001 0.017 -5.671 -0.006 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.283, 0.000, 0.476] + !! OVERLAP: bed <-> nightstand depth=[0.217, 0.458, 0.166] + !! OVERLAP: bed <-> floor depth=[1.668, 0.000, 2.164] + !! OVERLAP: nightstand <-> floor depth=[0.577, 0.000, 0.442] + !! OVERLAP: nightstand <-> floor depth=[0.399, 0.000, 0.347] + !! OVERLAP: table <-> floor depth=[0.948, 0.000, 0.545] + !! OVERLAP: chair <-> floor depth=[0.376, 0.000, 0.341] +============================================================ + + +============================================================ +SCENE: Bedroom-17102 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0070, Walkable Loss: 1.8442 (Center Penalty: 2.7004, C1 Heatmap: 0.8024, C2 Repulsion: 1.7302), Relational Loss: 0.0427 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.882 1.523 2.429 -0.326 0.002 0.102 89.83° +table 0.607 0.617 0.630 -1.180 0.005 1.490 -0.06° +lamp 0.611 0.767 0.608 -0.013 2.047 0.154 -0.02° +wardrobe 1.817 2.349 0.630 -0.590 -0.002 -1.729 0.06° +floor 3.117 0.001 4.135 -0.049 0.001 -0.097 -0.01° +_scene_ 0.073 0.002 0.020 -5.672 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.391, 0.617, 0.142] + !! OVERLAP: bed <-> floor depth=[1.882, 0.001, 2.429] + !! OVERLAP: table <-> floor depth=[0.607, 0.001, 0.630] + !! OVERLAP: wardrobe <-> floor depth=[1.817, 0.001, 0.630] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40319 | 10 objects +============================================================ +Final Step Collision Loss: 0.0139, Room Outer Loss: 0.4862, Walkable Loss: 1.9156 (Center Penalty: 2.4180, C1 Heatmap: 0.8218, C2 Repulsion: 3.7788), Relational Loss: 0.0251 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.671 2.366 0.716 -1.568 0.000 -0.735 90.06° +lamp 0.424 0.625 0.382 -1.038 1.594 -1.463 -0.07° +lamp 0.244 0.887 0.242 1.665 1.565 -1.435 0.05° +lamp 0.671 0.783 0.685 0.034 1.868 -0.136 -0.02° +table 1.059 1.201 0.366 1.325 0.000 1.351 -179.99° +bed 1.934 1.058 2.134 0.121 -0.000 -0.561 0.02° +nightstand 0.422 0.469 0.411 1.468 0.002 -1.372 -0.03° +nightstand 0.458 0.476 0.357 -1.236 0.000 -1.397 -0.01° +floor 3.842 -0.001 3.231 -0.029 -0.000 -0.002 -0.03° +_scene_ 0.069 0.000 0.018 -5.673 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.114, 1.058, 0.716] + !! OVERLAP: wardrobe <-> floor depth=[1.219, -0.001, 0.716] + !! OVERLAP: table <-> floor depth=[1.059, -0.001, 0.366] + !! OVERLAP: bed <-> floor depth=[1.934, -0.001, 2.123] + !! OVERLAP: nightstand <-> floor depth=[0.422, -0.001, 0.411] + !! OVERLAP: nightstand <-> floor depth=[0.458, -0.001, 0.357] +============================================================ + + +============================================================ +SCENE: MasterBedroom-28978 | 9 objects +============================================================ +Final Step Collision Loss: 0.1154, Room Outer Loss: 0.4061, Walkable Loss: 2.7032 (Center Penalty: 3.0695, C1 Heatmap: 1.1750, C2 Repulsion: 6.9846), Relational Loss: 0.0152 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.469 0.496 0.433 1.023 0.000 -1.353 -0.00° +bookshelf 1.365 1.889 0.278 -0.037 -0.001 -1.390 0.02° +wardrobe 2.246 2.283 0.657 0.233 0.002 1.404 -179.96° +chair 0.511 0.876 0.526 -0.310 0.002 -0.949 -119.05° +desk 1.192 0.776 0.538 -1.423 0.001 1.277 90.02° +bed 2.255 1.260 2.351 0.198 0.002 -0.220 -89.99° +lamp 0.747 0.515 0.745 0.015 2.306 0.113 -0.05° +floor 3.259 -0.001 3.382 -0.003 0.000 0.002 -0.00° +_scene_ 0.071 -0.000 0.025 -5.669 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.469, 0.496, 0.258] + !! OVERLAP: nightstand <-> floor depth=[0.469, -0.001, 0.433] + !! OVERLAP: bookshelf <-> bed depth=[1.365, 1.260, 0.144] + !! OVERLAP: bookshelf <-> floor depth=[1.365, -0.001, 0.278] + !! OVERLAP: wardrobe <-> desk depth=[0.062, 0.776, 0.471] + !! OVERLAP: wardrobe <-> floor depth=[2.246, -0.001, 0.618] + !! OVERLAP: chair <-> bed depth=[0.511, 0.876, 0.526] + !! OVERLAP: chair <-> floor depth=[0.511, -0.001, 0.526] + !! OVERLAP: desk <-> floor depth=[0.805, -0.001, 0.538] + !! OVERLAP: bed <-> floor depth=[2.255, -0.001, 2.351] +============================================================ + + +============================================================ +SCENE: MasterBedroom-392 | 9 objects +============================================================ +Final Step Collision Loss: 0.0364, Room Outer Loss: 0.3141, Walkable Loss: 2.0665 (Center Penalty: 2.2229, C1 Heatmap: 0.9697, C2 Repulsion: 5.6718), Relational Loss: 0.0225 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.272 2.435 0.621 -0.183 -0.002 -1.892 0.05° +nightstand 0.565 0.569 0.431 -1.149 0.001 -0.854 89.99° +nightstand 0.577 0.568 0.443 -0.582 -0.000 -0.427 89.82° +nightstand 0.527 0.588 0.442 -1.360 0.003 1.733 90.10° +bed 2.138 0.980 2.190 -0.444 0.001 0.596 89.94° +bookshelf 0.877 2.134 0.453 1.309 -0.001 1.306 -90.21° +lamp 0.613 0.931 0.639 -0.008 1.711 0.582 -0.00° +floor 3.167 -0.002 5.080 -0.036 0.001 0.204 -0.03° +_scene_ 0.065 -0.000 0.016 -5.674 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.272, -0.002, 0.621] + !! OVERLAP: nightstand <-> nightstand depth=[0.005, 0.568, 0.010] + !! OVERLAP: nightstand <-> floor depth=[0.565, -0.002, 0.431] + !! OVERLAP: nightstand <-> bed depth=[0.577, 0.568, 0.293] + !! OVERLAP: nightstand <-> floor depth=[0.577, -0.002, 0.443] + !! OVERLAP: nightstand <-> bed depth=[0.417, 0.588, 0.179] + !! OVERLAP: nightstand <-> floor depth=[0.523, -0.002, 0.442] + !! OVERLAP: bed <-> floor depth=[2.138, -0.002, 2.190] + !! OVERLAP: bookshelf <-> floor depth=[0.676, -0.002, 0.453] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3712 | 6 objects +============================================================ +Final Step Collision Loss: 0.0616, Room Outer Loss: 0.1824, Walkable Loss: 1.7815 (Center Penalty: 2.4304, C1 Heatmap: 0.7430, C2 Repulsion: 2.6915), Relational Loss: 0.0380 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.540 0.696 0.554 0.182 2.072 -0.274 -0.05° +desk 1.612 0.747 0.930 0.858 0.000 -0.268 0.08° +chair 0.588 0.829 0.599 0.630 -0.005 -1.015 156.26° +bed 1.814 1.192 2.183 -0.793 0.001 -0.152 0.06° +floor 3.171 -0.001 2.810 -0.004 0.001 0.004 -0.03° +_scene_ 0.063 0.001 0.021 -5.674 -0.003 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.588, 0.747, 0.017] + !! OVERLAP: desk <-> bed depth=[0.063, 0.747, 0.930] + !! OVERLAP: desk <-> floor depth=[1.531, -0.001, 0.930] + !! OVERLAP: chair <-> floor depth=[0.588, -0.001, 0.599] + !! OVERLAP: bed <-> floor depth=[1.703, -0.001, 2.183] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1446 | 9 objects +============================================================ +Final Step Collision Loss: 0.0212, Room Outer Loss: 0.0000, Walkable Loss: 1.2071 (Center Penalty: 1.1560, C1 Heatmap: 0.7979, C2 Repulsion: 3.0992), Relational Loss: 0.0126 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.919 0.860 2.074 1.082 -0.001 0.946 179.97° +nightstand 0.383 0.518 0.347 2.250 0.001 1.908 -90.27° +wardrobe 1.626 1.999 0.570 -1.325 0.002 -1.349 0.09° +lamp 0.340 0.951 0.371 0.403 1.787 0.534 -0.13° +chair 0.671 0.845 0.795 -0.936 -0.001 1.501 64.05° +chair 0.760 0.889 0.802 -1.644 -0.001 1.657 141.26° +chair 0.807 0.398 0.439 2.061 -0.001 -0.736 179.95° +floor 5.164 -0.007 4.511 0.446 -0.000 0.053 -0.04° +_scene_ 0.062 0.000 0.017 -5.672 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.919, -0.007, 2.074] + !! OVERLAP: nightstand <-> floor depth=[0.383, -0.007, 0.347] + !! OVERLAP: wardrobe <-> floor depth=[1.624, -0.007, 0.570] + !! OVERLAP: chair <-> chair depth=[0.008, 0.845, 0.642] + !! OVERLAP: chair <-> floor depth=[0.671, -0.007, 0.795] + !! OVERLAP: chair <-> floor depth=[0.760, -0.007, 0.802] + !! OVERLAP: chair <-> floor depth=[0.807, -0.007, 0.439] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6847 | 8 objects +============================================================ +Final Step Collision Loss: 0.0418, Room Outer Loss: 0.5693, Walkable Loss: 2.1095 (Center Penalty: 2.4242, C1 Heatmap: 0.8756, C2 Repulsion: 5.4721), Relational Loss: 0.0461 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.900 1.231 2.346 0.331 -0.000 -0.335 -90.01° +cabinet 1.510 2.102 0.472 0.829 0.002 1.468 -179.96° +nightstand 0.496 0.617 0.464 1.452 -0.001 0.770 -90.35° +nightstand 0.549 0.655 0.471 1.207 0.001 -1.388 -90.04° +cabinet 1.402 1.876 0.482 -1.432 0.001 -0.894 89.88° +lamp 0.238 1.471 0.215 -0.183 1.172 -0.303 -0.01° +floor 3.199 -0.003 3.618 -0.006 0.000 0.021 -0.00° +_scene_ 0.065 0.001 0.023 -5.674 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.077, 0.617, 0.301] + !! OVERLAP: bed <-> nightstand depth=[0.348, 0.655, 0.355] + !! OVERLAP: bed <-> lamp depth=[0.238, 0.179, 0.215] + !! OVERLAP: bed <-> floor depth=[1.900, -0.003, 2.346] + !! OVERLAP: cabinet <-> floor depth=[1.510, -0.003, 0.472] + !! OVERLAP: nightstand <-> floor depth=[0.389, -0.003, 0.464] + !! OVERLAP: nightstand <-> floor depth=[0.549, -0.003, 0.471] + !! OVERLAP: cabinet <-> floor depth=[0.875, -0.003, 0.482] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12183 | 8 objects +============================================================ +Final Step Collision Loss: 0.0041, Room Outer Loss: 0.0943, Walkable Loss: 2.0058 (Center Penalty: 2.5732, C1 Heatmap: 0.8197, C2 Repulsion: 3.9130), Relational Loss: 0.0307 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.690 0.828 0.812 -1.337 -0.002 -0.478 89.99° +bed 1.687 1.206 2.381 0.295 0.000 -0.199 0.03° +nightstand 0.485 0.614 0.449 -0.722 0.002 -1.221 0.00° +nightstand 0.530 0.630 0.446 1.434 0.001 -1.127 0.12° +lamp 0.535 0.250 0.524 0.340 2.365 -0.083 -0.14° +lamp 0.721 0.859 0.726 -1.603 1.984 -1.024 -0.06° +floor 4.139 -0.001 3.023 0.007 0.000 0.033 -0.01° +_scene_ 0.074 0.001 0.023 -5.671 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bed depth=[0.057, 0.828, 0.812] + !! OVERLAP: desk <-> floor depth=[1.571, -0.001, 0.812] + !! OVERLAP: bed <-> nightstand depth=[0.069, 0.614, 0.392] + !! OVERLAP: bed <-> floor depth=[1.687, -0.001, 2.381] + !! OVERLAP: nightstand <-> floor depth=[0.485, -0.001, 0.449] + !! OVERLAP: nightstand <-> floor depth=[0.530, -0.001, 0.446] +============================================================ + + +============================================================ +SCENE: Bedroom-8136 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0233, Walkable Loss: 1.8035 (Center Penalty: 2.7154, C1 Heatmap: 0.8874, C2 Repulsion: 0.9083), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.922 1.164 2.292 0.150 0.000 -0.317 -90.04° +wardrobe 2.516 2.506 0.656 -0.267 0.001 1.580 -179.98° +lamp 0.495 0.695 0.512 -0.073 2.064 -0.133 -0.02° +floor 3.115 -0.002 4.044 -0.054 0.000 -0.011 0.00° +_scene_ 0.049 -0.001 0.007 -5.681 -0.007 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.922, -0.002, 2.292] + !! OVERLAP: wardrobe <-> floor depth=[2.516, -0.002, 0.656] +============================================================ + + +============================================================ +SCENE: MasterBedroom-24714 | 7 objects +============================================================ +Final Step Collision Loss: 0.0159, Room Outer Loss: 0.6944, Walkable Loss: 1.9908 (Center Penalty: 2.3527, C1 Heatmap: 1.1137, C2 Repulsion: 3.6899), Relational Loss: 0.0445 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.012 2.393 0.574 0.209 -0.001 -1.410 0.08° +bed 2.359 1.296 2.463 0.191 -0.001 0.452 -89.94° +tv_stand 1.962 0.487 0.459 -1.317 0.001 0.634 90.02° +nightstand 0.584 0.696 0.413 1.341 0.001 -0.763 -89.98° +lamp 1.153 0.918 1.146 -0.043 1.927 0.388 -0.01° +floor 3.270 -0.004 3.911 -0.040 -0.001 0.077 -0.02° +_scene_ 0.070 0.000 0.022 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.012, -0.004, 0.574] + !! OVERLAP: bed <-> tv_stand depth=[0.652, 0.487, 0.459] + !! OVERLAP: bed <-> nightstand depth=[0.322, 0.696, 0.223] + !! OVERLAP: bed <-> floor depth=[2.359, -0.004, 2.463] + !! OVERLAP: tv_stand <-> floor depth=[1.339, -0.004, 0.459] + !! OVERLAP: nightstand <-> floor depth=[0.546, -0.004, 0.413] +============================================================ + + +============================================================ +SCENE: Bedroom-13858 | 7 objects +============================================================ +Final Step Collision Loss: 0.1156, Room Outer Loss: 0.0058, Walkable Loss: 1.6500 (Center Penalty: 2.0266, C1 Heatmap: 0.8516, C2 Repulsion: 2.9609), Relational Loss: 0.0807 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.481 1.408 2.490 -0.380 0.001 -0.499 -0.01° +wardrobe 1.050 2.291 0.561 1.302 0.004 -0.533 -179.70° +nightstand 0.499 0.603 0.468 1.267 0.001 -1.533 -0.04° +nightstand 0.569 0.555 0.410 -1.603 -0.000 -1.599 -0.03° +lamp 1.093 0.852 1.180 -0.281 2.074 -0.305 -0.05° +floor 4.208 -0.001 3.570 -0.023 -0.001 0.017 -0.04° +_scene_ 0.068 0.000 0.022 -5.669 -0.005 -5.719 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.084, 1.408, 0.561] + !! OVERLAP: bed <-> nightstand depth=[0.302, 0.555, 0.350] + !! OVERLAP: bed <-> floor depth=[2.481, -0.001, 2.490] + !! OVERLAP: wardrobe <-> floor depth=[1.050, -0.001, 0.561] + !! OVERLAP: nightstand <-> floor depth=[0.499, -0.001, 0.468] + !! OVERLAP: nightstand <-> floor depth=[0.569, -0.001, 0.374] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6588 (Center Penalty: 2.6702, C1 Heatmap: 0.5776, C2 Repulsion: 0.9273), Relational Loss: 0.0587 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.955 1.069 2.132 -0.371 -0.000 0.114 89.92° +table 0.414 0.571 0.422 -1.071 0.000 -1.056 90.03° +lamp 0.975 1.043 1.026 -0.107 2.024 0.040 -0.03° +floor 2.770 -0.002 3.508 -0.000 0.000 -0.053 -0.05° +_scene_ 0.065 0.001 0.040 -5.668 -0.006 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.414, 0.571, 0.107] + !! OVERLAP: bed <-> floor depth=[1.955, -0.002, 2.132] + !! OVERLAP: table <-> floor depth=[0.414, -0.002, 0.422] +============================================================ + + +============================================================ +SCENE: LivingRoom-37659 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2242, Walkable Loss: 1.6692 (Center Penalty: 1.7926, C1 Heatmap: 0.6318, C2 Repulsion: 5.2020), Relational Loss: 0.0017 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.668 0.894 0.966 1.363 -0.001 1.125 -90.02° +chair 0.736 0.892 0.668 0.329 0.002 2.459 179.65° +chair 0.572 0.449 0.548 -0.035 0.000 -0.330 0.02° +table 1.344 0.535 0.711 -0.082 -0.000 0.986 -0.03° +chair 0.617 0.849 0.626 -0.843 -0.000 2.168 136.12° +table 0.848 0.695 0.384 -2.087 0.002 -2.067 89.69° +table 0.593 0.634 0.570 -1.719 -0.001 2.500 0.04° +lamp 0.581 1.029 0.547 0.080 1.416 0.906 -0.04° +floor 4.662 -0.002 6.527 -0.356 0.002 0.243 -0.01° +_scene_ 0.071 -0.001 0.017 -5.670 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.061, 0.535, 0.699] + !! OVERLAP: sofa <-> floor depth=[1.446, -0.002, 0.966] + !! OVERLAP: chair <-> floor depth=[0.736, -0.002, 0.668] + !! OVERLAP: chair <-> floor depth=[0.572, -0.002, 0.548] + !! OVERLAP: table <-> floor depth=[1.344, -0.002, 0.711] + !! OVERLAP: chair <-> floor depth=[0.617, -0.002, 0.626] + !! OVERLAP: table <-> floor depth=[0.848, -0.002, 0.384] + !! OVERLAP: table <-> floor depth=[0.593, -0.002, 0.570] +============================================================ + + +============================================================ +SCENE: LivingRoom-1520 | 14 objects +============================================================ +Final Step Collision Loss: 0.0345, Room Outer Loss: 0.2858, Walkable Loss: 1.8530 (Center Penalty: 0.9492, C1 Heatmap: 1.0570, C2 Repulsion: 9.5554), Relational Loss: 0.0328 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.439 0.869 1.075 -1.205 0.002 1.800 90.02° +table 1.229 0.567 0.878 -0.555 0.001 1.468 90.07° +tv_stand 1.650 0.513 0.396 1.174 0.001 2.094 -90.14° +chair 0.485 0.524 0.494 -0.849 -0.001 0.177 0.05° +table 1.341 0.762 1.364 -0.900 -0.003 -1.939 0.00° +chair 0.522 1.019 0.546 -1.885 0.001 -1.122 -179.99° +chair 0.551 1.129 0.603 -0.638 -0.000 -1.255 -179.92° +chair 0.517 1.038 0.602 -0.707 0.001 -2.425 -90.12° +chair 0.556 1.059 0.603 -1.713 -0.001 -2.243 -0.04° +cabinet 1.386 0.913 0.530 0.016 0.001 -3.001 0.05° +lamp 0.449 0.946 0.404 -1.189 1.640 -1.601 -0.04° +lamp 0.561 0.888 0.586 -0.784 1.700 1.796 -0.03° +floor 4.262 -0.000 6.770 -0.401 -0.001 0.011 -0.01° +_scene_ 0.070 -0.001 0.021 -5.670 -0.005 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.183, 0.567, 0.643] + !! OVERLAP: sofa <-> floor depth=[2.439, -0.000, 1.075] + !! OVERLAP: table <-> floor depth=[1.229, -0.000, 0.878] + !! OVERLAP: tv_stand <-> floor depth=[1.381, -0.000, 0.396] + !! OVERLAP: chair <-> floor depth=[0.485, -0.000, 0.494] + !! OVERLAP: table <-> chair depth=[0.551, 0.762, 0.299] + !! OVERLAP: table <-> chair depth=[0.517, 0.762, 0.497] + !! OVERLAP: table <-> chair depth=[0.135, 0.762, 0.603] + !! OVERLAP: table <-> floor depth=[1.341, -0.000, 1.364] + !! OVERLAP: chair <-> floor depth=[0.522, -0.000, 0.546] + !! OVERLAP: chair <-> floor depth=[0.551, -0.000, 0.603] + !! OVERLAP: chair <-> floor depth=[0.517, -0.000, 0.602] + !! OVERLAP: chair <-> floor depth=[0.556, -0.000, 0.603] + !! OVERLAP: cabinet <-> floor depth=[1.386, -0.000, 0.530] +============================================================ + + +============================================================ +SCENE: LivingRoom-17951 | 6 objects +============================================================ +Final Step Collision Loss: 0.0052, Room Outer Loss: 0.1664, Walkable Loss: 2.1502 (Center Penalty: 3.3533, C1 Heatmap: 0.5923, C2 Repulsion: 2.3663), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.940 0.787 0.954 -0.771 -0.003 -0.143 89.97° +table 1.561 0.636 0.668 0.171 0.001 0.186 -90.01° +tv_stand 1.797 1.422 0.373 1.016 0.002 0.154 -89.91° +lamp 0.712 0.456 0.690 0.042 2.056 0.029 -0.01° +floor 3.571 -0.003 3.562 0.055 -0.001 -0.028 -0.01° +_scene_ 0.070 0.001 0.022 -5.672 -0.003 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.809, 0.636, 0.482] + !! OVERLAP: sofa <-> tv_stand depth=[0.082, 0.787, 0.367] + !! OVERLAP: sofa <-> floor depth=[1.929, -0.003, 0.954] + !! OVERLAP: table <-> tv_stand depth=[0.834, 0.636, 0.373] + !! OVERLAP: table <-> floor depth=[1.561, -0.003, 0.668] + !! OVERLAP: tv_stand <-> floor depth=[1.724, -0.003, 0.373] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-629 | 16 objects +============================================================ +Final Step Collision Loss: 0.0542, Room Outer Loss: 0.9568, Walkable Loss: 3.2332 (Center Penalty: 1.2433, C1 Heatmap: 1.5541, C2 Repulsion: 19.8996), Relational Loss: 0.0126 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.299 0.880 0.967 1.609 -0.002 -0.747 -0.02° +tv_stand 2.276 0.555 0.374 1.437 -0.001 1.453 179.94° +desk 1.100 0.411 0.412 1.440 -0.001 -0.044 0.02° +table 1.223 0.766 1.462 -1.744 0.001 -0.510 0.07° +chair 0.496 0.653 0.426 -2.391 0.005 -0.757 89.99° +chair 0.614 0.712 0.462 -2.734 0.004 0.188 89.78° +chair 0.491 0.748 0.578 -1.011 -0.000 -0.754 -89.96° +chair 0.523 0.736 0.567 -0.952 0.000 0.009 -90.01° +cabinet 3.349 2.486 0.284 -1.294 -0.001 1.556 -179.97° +bookshelf 2.002 2.219 0.305 -1.909 -0.003 -2.003 0.00° +chair 0.548 0.700 0.556 -2.343 0.002 -0.032 90.00° +cabinet 2.002 2.094 0.466 -2.459 0.003 -0.252 90.00° +lamp 0.932 0.738 0.848 1.713 1.965 -0.152 0.01° +lamp 0.345 0.455 0.306 -1.126 2.067 -0.342 -0.07° +floor 5.915 -0.001 3.579 -0.147 0.001 0.026 -0.08° +_scene_ 0.069 -0.001 0.023 -5.674 -0.006 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.299, -0.001, 0.967] + !! OVERLAP: tv_stand <-> cabinet depth=[0.082, 0.555, 0.226] + !! OVERLAP: tv_stand <-> floor depth=[2.276, -0.001, 0.374] + !! OVERLAP: desk <-> floor depth=[1.100, -0.001, 0.412] + !! OVERLAP: table <-> chair depth=[0.213, 0.653, 0.426] + !! OVERLAP: table <-> chair depth=[0.123, 0.748, 0.578] + !! OVERLAP: table <-> chair depth=[0.081, 0.736, 0.495] + !! OVERLAP: table <-> chair depth=[0.286, 0.700, 0.531] + !! OVERLAP: table <-> cabinet depth=[0.898, 0.766, 0.466] + !! OVERLAP: table <-> floor depth=[1.223, -0.001, 1.462] + !! OVERLAP: chair <-> floor depth=[0.496, -0.001, 0.426] + !! OVERLAP: chair <-> chair depth=[0.191, 0.700, 0.289] + !! OVERLAP: chair <-> cabinet depth=[0.614, 0.712, 0.024] + !! OVERLAP: chair <-> floor depth=[0.614, -0.001, 0.462] + !! OVERLAP: chair <-> floor depth=[0.491, -0.001, 0.578] + !! OVERLAP: chair <-> floor depth=[0.523, -0.001, 0.567] + !! OVERLAP: cabinet <-> floor depth=[3.349, -0.001, 0.284] + !! OVERLAP: chair <-> cabinet depth=[0.548, 0.700, 0.292] + !! OVERLAP: chair <-> floor depth=[0.548, -0.001, 0.556] + !! OVERLAP: cabinet <-> floor depth=[1.647, -0.001, 0.466] +============================================================ + + +============================================================ +SCENE: LivingRoom-71071 | 16 objects +============================================================ +Final Step Collision Loss: 0.0382, Room Outer Loss: 0.4000, Walkable Loss: 1.8964 (Center Penalty: 1.0750, C1 Heatmap: 1.0867, C2 Repulsion: 9.2418), Relational Loss: 0.0123 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.635 1.130 0.277 2.559 0.002 -0.512 -89.99° +table 0.540 0.547 0.626 3.189 0.002 -3.269 0.09° +lamp 0.970 0.975 0.981 1.491 1.853 -1.620 -0.04° +tv_stand 2.157 0.525 0.533 -0.664 0.000 -1.231 0.04° +chair 0.480 0.803 0.565 1.286 0.001 1.459 -90.08° +chair 0.541 0.859 0.566 1.505 0.003 0.494 -90.21° +chair 0.547 0.801 0.600 -0.277 0.001 0.579 89.88° +chair 0.547 0.801 0.562 0.074 0.003 1.778 90.04° +table 1.678 0.755 0.832 1.184 -0.000 1.463 -90.01° +sofa 2.177 1.015 1.181 2.424 0.001 -1.198 -90.12° +table 1.042 0.535 1.219 1.595 -0.002 -1.260 -90.03° +lamp 0.667 0.250 0.560 -1.689 2.421 1.827 -0.04° +table 0.870 0.997 0.410 -2.044 0.005 3.303 90.00° +lamp 0.392 0.857 0.354 0.748 1.834 1.222 -89.91° +floor 6.343 -0.004 6.545 0.477 0.001 -0.311 -0.06° +_scene_ 0.073 0.000 0.025 -5.670 -0.005 -5.708 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.635, 1.015, 0.043] + !! OVERLAP: table <-> floor depth=[0.635, -0.004, 0.277] + !! OVERLAP: table <-> floor depth=[0.540, -0.004, 0.626] + !! OVERLAP: tv_stand <-> floor depth=[2.157, -0.004, 0.533] + !! OVERLAP: chair <-> table depth=[0.480, 0.755, 0.565] + !! OVERLAP: chair <-> floor depth=[0.480, -0.004, 0.565] + !! OVERLAP: chair <-> floor depth=[0.541, -0.004, 0.566] + !! OVERLAP: chair <-> floor depth=[0.547, -0.004, 0.600] + !! OVERLAP: chair <-> table depth=[0.003, 0.755, 0.382] + !! OVERLAP: chair <-> floor depth=[0.547, -0.004, 0.562] + !! OVERLAP: table <-> floor depth=[1.678, -0.004, 0.832] + !! OVERLAP: sofa <-> table depth=[0.780, 0.535, 1.138] + !! OVERLAP: sofa <-> floor depth=[2.177, -0.004, 1.181] + !! OVERLAP: table <-> floor depth=[1.042, -0.004, 1.219] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9790 | 14 objects +============================================================ +Final Step Collision Loss: 0.0083, Room Outer Loss: 0.4784, Walkable Loss: 1.4903 (Center Penalty: 1.2038, C1 Heatmap: 0.8244, C2 Repulsion: 5.5867), Relational Loss: 0.0083 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.272 0.951 0.932 -1.148 0.001 2.210 89.82° +tv_stand 1.828 0.461 0.489 1.393 0.002 2.292 -89.94° +cabinet 0.909 0.896 0.389 -1.974 0.005 -3.312 90.01° +table 1.376 0.858 0.915 -0.219 0.005 -0.868 0.03° +chair 0.517 0.624 0.527 -0.957 0.001 -0.386 179.84° +chair 0.478 0.602 0.520 -0.761 0.004 -1.578 0.04° +chair 0.542 0.620 0.538 1.082 0.002 0.150 179.95° +chair 0.435 0.597 0.481 0.271 -0.000 -0.793 0.00° +lamp 0.347 0.407 0.331 -1.801 2.251 -3.223 -0.09° +lamp 0.940 0.845 0.692 -0.468 1.894 1.828 0.00° +lamp 0.312 1.101 0.321 -0.053 2.019 -1.015 0.02° +table 1.081 0.428 0.906 0.008 0.002 2.156 -90.11° +floor 4.525 -0.001 7.829 -0.241 0.000 0.554 -0.04° +_scene_ 0.075 -0.001 0.023 -5.674 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.521, 0.428, 0.864] + !! OVERLAP: sofa <-> floor depth=[2.272, -0.001, 0.932] + !! OVERLAP: tv_stand <-> table depth=[0.069, 0.428, 0.489] + !! OVERLAP: tv_stand <-> floor depth=[1.543, -0.001, 0.489] + !! OVERLAP: cabinet <-> floor depth=[0.909, -0.001, 0.243] + !! OVERLAP: table <-> chair depth=[0.208, 0.624, 0.239] + !! OVERLAP: table <-> chair depth=[0.385, 0.602, 0.008] + !! OVERLAP: table <-> chair depth=[0.415, 0.597, 0.481] + !! OVERLAP: table <-> floor depth=[1.376, -0.001, 0.915] + !! OVERLAP: chair <-> floor depth=[0.517, -0.001, 0.527] + !! OVERLAP: chair <-> floor depth=[0.478, -0.001, 0.520] + !! OVERLAP: chair <-> floor depth=[0.542, -0.001, 0.538] + !! OVERLAP: chair <-> floor depth=[0.435, -0.001, 0.481] + !! OVERLAP: table <-> floor depth=[1.081, -0.001, 0.906] +============================================================ + + +============================================================ +SCENE: LivingRoom-791 | 15 objects +============================================================ +Final Step Collision Loss: 0.0115, Room Outer Loss: 0.8262, Walkable Loss: 2.3339 (Center Penalty: 1.8378, C1 Heatmap: 1.1738, C2 Repulsion: 9.4541), Relational Loss: 0.0139 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.290 0.730 1.071 0.905 0.000 1.403 -0.01° +chair 0.502 0.833 0.615 1.870 0.000 2.148 180.00° +chair 0.606 0.850 0.654 0.667 0.001 2.152 179.89° +chair 0.556 0.907 0.583 2.072 -0.001 0.599 0.02° +chair 0.580 0.869 0.610 1.044 -0.000 0.525 -0.04° +sofa 2.172 0.899 0.877 1.722 -0.001 -0.606 -90.04° +tv_stand 1.955 0.656 0.467 -1.752 0.000 -1.661 89.97° +table 0.769 0.229 0.832 -0.479 -0.001 0.302 -0.11° +table 1.344 1.514 0.467 -1.453 -0.001 1.471 179.81° +table 0.474 0.540 0.430 1.552 0.002 -2.543 0.05° +lamp 0.683 0.828 0.681 0.743 1.893 0.079 -0.05° +lamp 0.694 1.015 0.687 1.817 1.980 -0.111 0.01° +lamp 0.527 1.110 0.506 -0.127 1.708 -1.503 0.02° +floor 4.799 -0.003 6.139 0.436 0.002 0.081 -0.07° +_scene_ 0.073 -0.001 0.023 -5.671 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.430, 0.730, 0.098] + !! OVERLAP: table <-> chair depth=[0.606, 0.730, 0.114] + !! OVERLAP: table <-> chair depth=[0.255, 0.730, 0.023] + !! OVERLAP: table <-> floor depth=[2.290, -0.003, 1.071] + !! OVERLAP: chair <-> floor depth=[0.502, -0.003, 0.615] + !! OVERLAP: chair <-> floor depth=[0.606, -0.003, 0.654] + !! OVERLAP: chair <-> floor depth=[0.556, -0.003, 0.583] + !! OVERLAP: chair <-> floor depth=[0.580, -0.003, 0.610] + !! OVERLAP: sofa <-> floor depth=[2.172, -0.003, 0.877] + !! OVERLAP: tv_stand <-> floor depth=[1.189, -0.003, 0.467] + !! OVERLAP: table <-> floor depth=[0.769, -0.003, 0.832] + !! OVERLAP: table <-> floor depth=[1.183, -0.003, 0.467] + !! OVERLAP: table <-> floor depth=[0.474, -0.003, 0.430] +============================================================ + + +============================================================ +SCENE: LivingRoom-24046 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4989 (Center Penalty: 1.8905, C1 Heatmap: 0.6469, C2 Repulsion: 2.9490), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.405 1.353 0.484 1.121 0.003 -0.791 -90.01° +sofa 2.364 0.832 1.136 0.185 -0.001 -0.654 -89.96° +table 0.624 0.407 0.678 -1.617 0.000 -0.466 -89.87° +lamp 0.562 0.718 0.557 0.195 2.113 0.614 -0.03° +chair 0.771 0.768 0.885 -1.367 0.001 -1.303 25.88° +floor 4.624 0.004 4.016 -0.085 0.002 -0.017 -0.03° +_scene_ 0.070 0.001 0.026 -5.669 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[0.949, 0.832, 0.484] + !! OVERLAP: bookshelf <-> floor depth=[1.405, 0.004, 0.484] + !! OVERLAP: sofa <-> chair depth=[0.016, 0.768, 0.361] + !! OVERLAP: sofa <-> floor depth=[2.364, 0.004, 1.136] + !! OVERLAP: table <-> floor depth=[0.624, 0.004, 0.678] + !! OVERLAP: chair <-> floor depth=[0.771, 0.004, 0.885] +============================================================ + + +============================================================ +SCENE: LivingRoom-13599 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0689, Walkable Loss: 1.6213 (Center Penalty: 2.0167, C1 Heatmap: 0.7916, C2 Repulsion: 2.9631), Relational Loss: 0.0549 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.915 0.972 0.952 -0.039 0.000 -1.786 -0.03° +chair 0.846 0.933 0.851 0.244 0.002 2.490 169.79° +table 0.627 0.546 0.528 -1.269 0.002 2.289 89.99° +table 0.721 0.421 0.635 -1.505 0.004 -1.709 89.95° +table 1.208 0.386 0.530 0.354 0.000 0.481 90.03° +tv_stand 1.426 0.632 0.386 1.623 0.000 0.289 -90.00° +lamp 0.532 0.875 0.551 0.348 1.859 0.439 0.03° +sofa 2.066 0.799 0.934 -0.970 -0.001 0.517 89.97° +floor 4.476 -0.004 6.788 0.263 0.000 -0.088 -0.09° +_scene_ 0.067 0.002 0.029 -5.673 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.915, -0.004, 0.952] + !! OVERLAP: chair <-> floor depth=[0.846, -0.004, 0.851] + !! OVERLAP: table <-> floor depth=[0.627, -0.004, 0.528] + !! OVERLAP: table <-> floor depth=[0.721, -0.004, 0.635] + !! OVERLAP: table <-> tv_stand depth=[0.048, 0.386, 0.266] + !! OVERLAP: table <-> sofa depth=[0.313, 0.386, 0.530] + !! OVERLAP: table <-> floor depth=[1.208, -0.004, 0.530] + !! OVERLAP: tv_stand <-> floor depth=[1.426, -0.004, 0.386] + !! OVERLAP: sofa <-> floor depth=[2.037, -0.004, 0.934] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13945 | 15 objects +============================================================ +Final Step Collision Loss: 0.0203, Room Outer Loss: 0.0042, Walkable Loss: 2.4186 (Center Penalty: 2.3541, C1 Heatmap: 1.1946, C2 Repulsion: 7.6374), Relational Loss: 0.0184 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.159 0.807 1.935 -1.203 -0.001 -1.563 0.12° +chair 0.490 0.690 0.509 -2.947 0.001 -2.085 0.10° +chair 0.331 0.381 0.322 -2.554 0.005 -0.965 0.05° +chair 0.345 0.354 0.352 -2.755 0.001 -0.529 -0.10° +table 0.961 0.387 0.656 -1.118 -0.001 -0.318 0.00° +chair 0.461 1.069 0.512 -0.199 0.000 0.255 89.88° +lamp 0.185 1.019 0.181 -2.761 1.598 -2.036 -0.04° +chair 0.475 1.014 0.505 1.006 -0.005 -0.112 -61.76° +cabinet 1.417 0.737 0.585 2.329 0.002 1.833 179.89° +table 0.706 1.180 0.480 2.792 -0.000 -2.344 0.08° +shelf 0.328 2.106 0.345 2.904 0.001 1.950 0.28° +lamp 0.338 0.963 0.355 0.659 1.892 -0.085 0.04° +tv_stand 3.526 0.715 0.473 -1.254 -0.000 2.072 0.28° +floor 6.943 -0.004 5.444 -0.112 -0.001 0.155 -0.02° +_scene_ 0.079 0.001 0.021 -5.672 -0.005 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.081, 0.690, 0.509] + !! OVERLAP: sofa <-> chair depth=[0.331, 0.381, 0.322] + !! OVERLAP: sofa <-> chair depth=[0.200, 0.354, 0.109] + !! OVERLAP: sofa <-> table depth=[0.961, 0.387, 0.050] + !! OVERLAP: sofa <-> floor depth=[3.159, -0.004, 1.935] + !! OVERLAP: chair <-> floor depth=[0.490, -0.004, 0.509] + !! OVERLAP: chair <-> floor depth=[0.331, -0.004, 0.322] + !! OVERLAP: chair <-> floor depth=[0.345, -0.004, 0.352] + !! OVERLAP: table <-> floor depth=[0.961, -0.004, 0.656] + !! OVERLAP: chair <-> floor depth=[0.461, -0.004, 0.512] + !! OVERLAP: chair <-> floor depth=[0.475, -0.004, 0.505] + !! OVERLAP: cabinet <-> shelf depth=[0.297, 0.737, 0.345] + !! OVERLAP: cabinet <-> floor depth=[1.417, -0.004, 0.585] + !! OVERLAP: table <-> floor depth=[0.706, -0.004, 0.463] + !! OVERLAP: shelf <-> floor depth=[0.328, -0.004, 0.345] + !! OVERLAP: tv_stand <-> floor depth=[3.526, -0.004, 0.473] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-758 | 12 objects +============================================================ +Final Step Collision Loss: 0.0278, Room Outer Loss: 0.6086, Walkable Loss: 2.3293 (Center Penalty: 1.7426, C1 Heatmap: 1.1299, C2 Repulsion: 10.0605), Relational Loss: 0.0271 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.746 1.052 0.740 0.243 1.923 -1.310 -0.03° +table 1.573 0.702 1.009 -0.168 -0.003 0.999 -89.99° +chair 0.483 0.851 0.504 0.116 0.002 1.615 -90.00° +chair 0.510 0.869 0.494 -1.041 0.001 1.367 -0.01° +lamp 0.292 0.678 0.244 -0.956 1.776 1.445 -0.02° +lamp 0.258 0.764 0.288 -0.067 1.903 1.239 -0.06° +sofa 2.468 0.828 1.050 -0.946 0.001 -1.052 89.98° +table 1.061 0.341 0.886 0.443 -0.003 -0.403 -89.97° +tv_stand 1.883 0.531 0.400 1.312 -0.000 -1.065 -90.10° +table 1.863 2.294 0.484 -1.294 0.000 0.450 89.96° +floor 3.973 -0.000 3.920 -0.012 -0.001 -0.018 -0.03° +_scene_ 0.069 0.001 0.021 -5.670 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.483, 0.702, 0.141] + !! OVERLAP: table <-> chair depth=[0.169, 0.702, 0.383] + !! OVERLAP: table <-> table depth=[0.592, 0.702, 0.198] + !! OVERLAP: table <-> floor depth=[1.573, -0.000, 1.009] + !! OVERLAP: chair <-> floor depth=[0.483, -0.000, 0.504] + !! OVERLAP: chair <-> floor depth=[0.510, -0.000, 0.494] + !! OVERLAP: sofa <-> table depth=[0.375, 0.341, 0.318] + !! OVERLAP: sofa <-> floor depth=[2.287, -0.000, 1.050] + !! OVERLAP: table <-> floor depth=[1.061, -0.000, 0.886] + !! OVERLAP: tv_stand <-> floor depth=[1.604, -0.000, 0.400] + !! OVERLAP: table <-> floor depth=[1.636, -0.000, 0.484] +============================================================ + + +============================================================ +SCENE: LivingRoom-33324 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.9306, Walkable Loss: 1.9387 (Center Penalty: 2.8934, C1 Heatmap: 0.6906, C2 Repulsion: 2.1570), Relational Loss: 0.0197 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.832 0.701 0.487 1.616 -0.000 0.239 -89.91° +table 0.600 1.090 0.480 -1.134 0.002 2.002 89.96° +sofa 1.995 0.843 0.852 -0.936 0.004 -0.111 90.04° +table 0.760 0.467 0.725 0.158 0.001 0.217 90.05° +chair 0.886 0.823 0.858 -0.036 0.002 2.276 -179.95° +bookshelf 1.152 2.455 0.431 -1.103 0.000 -2.668 0.18° +lamp 0.483 0.874 0.495 0.333 2.036 0.079 0.05° +floor 3.541 -0.001 6.297 0.029 -0.000 0.006 0.00° +_scene_ 0.070 -0.000 0.022 -5.674 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.100, -0.001, 0.487] + !! OVERLAP: table <-> floor depth=[0.600, -0.001, 0.480] + !! OVERLAP: sofa <-> table depth=[0.283, 0.467, 0.461] + !! OVERLAP: sofa <-> floor depth=[1.802, -0.001, 0.852] + !! OVERLAP: table <-> floor depth=[0.760, -0.001, 0.725] + !! OVERLAP: chair <-> floor depth=[0.886, -0.001, 0.858] + !! OVERLAP: bookshelf <-> floor depth=[1.152, -0.001, 0.431] +============================================================ + + +============================================================ +SCENE: LivingRoom-30147 | 20 objects +============================================================ +Final Step Collision Loss: 0.0160, Room Outer Loss: 0.0000, Walkable Loss: 2.4315 (Center Penalty: 0.8671, C1 Heatmap: 0.8762, C2 Repulsion: 16.4750), Relational Loss: 0.0064 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.349 0.641 0.320 -0.223 2.063 2.216 0.04° +lamp 0.908 0.771 0.900 -0.974 1.784 -3.222 -0.06° +tv_stand 2.180 0.996 0.409 -2.368 0.005 3.006 90.02° +chair 0.558 0.497 0.586 0.140 -0.003 0.947 -0.04° +chair 0.567 0.440 0.551 -0.399 -0.001 0.709 -0.03° +table 1.290 0.483 0.697 -0.003 0.001 2.258 -89.95° +table 0.443 0.660 0.458 1.639 0.000 0.688 -90.21° +table 0.551 0.606 0.548 1.723 0.002 3.782 -90.22° +sofa 2.355 0.977 0.913 1.129 -0.001 2.533 -90.03° +sofa 2.044 0.797 0.712 -0.398 0.005 4.222 179.96° +table 2.317 0.719 0.908 -0.911 0.000 -3.176 -0.05° +chair 0.705 1.102 0.720 -1.136 -0.000 -2.035 -179.99° +chair 0.576 1.098 0.630 0.195 -0.000 -2.866 -97.74° +chair 0.586 1.101 0.700 0.041 0.006 -3.518 -89.98° +chair 0.583 1.131 0.632 -0.819 -0.001 -4.372 -0.01° +chair 0.702 1.092 0.701 -1.778 0.002 -3.390 85.54° +chair 0.561 1.043 0.616 -1.583 -0.001 -2.753 109.81° +table 0.611 0.593 0.400 -2.410 0.003 -0.780 90.11° +floor 6.272 -0.005 10.097 -0.433 -0.000 0.343 0.00° +_scene_ 0.069 0.004 0.022 -5.669 -0.004 -5.709 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.180, -0.005, 0.409] + !! OVERLAP: chair <-> chair depth=[0.024, 0.440, 0.330] + !! OVERLAP: chair <-> floor depth=[0.558, -0.005, 0.586] + !! OVERLAP: chair <-> floor depth=[0.567, -0.005, 0.551] + !! OVERLAP: table <-> sofa depth=[0.691, 0.483, 0.529] + !! OVERLAP: table <-> floor depth=[1.290, -0.005, 0.697] + !! OVERLAP: table <-> floor depth=[0.443, -0.005, 0.458] + !! OVERLAP: table <-> floor depth=[0.551, -0.005, 0.548] + !! OVERLAP: sofa <-> floor depth=[2.355, -0.005, 0.913] + !! OVERLAP: sofa <-> floor depth=[2.044, -0.005, 0.712] + !! OVERLAP: table <-> chair depth=[0.339, 0.719, 0.459] + !! OVERLAP: table <-> chair depth=[0.499, 0.719, 0.462] + !! OVERLAP: table <-> chair depth=[0.643, 0.719, 0.591] + !! OVERLAP: table <-> chair depth=[0.561, 0.719, 0.339] + !! OVERLAP: table <-> floor depth=[2.317, -0.005, 0.908] + !! OVERLAP: chair <-> floor depth=[0.705, -0.005, 0.720] + !! OVERLAP: chair <-> chair depth=[0.426, 1.093, 0.013] + !! OVERLAP: chair <-> floor depth=[0.576, -0.005, 0.630] + !! OVERLAP: chair <-> floor depth=[0.586, -0.005, 0.700] + !! OVERLAP: chair <-> floor depth=[0.583, -0.005, 0.632] + !! OVERLAP: chair <-> chair depth=[0.436, 1.043, 0.021] + !! OVERLAP: chair <-> floor depth=[0.702, -0.005, 0.701] + !! OVERLAP: chair <-> floor depth=[0.561, -0.005, 0.616] + !! OVERLAP: table <-> floor depth=[0.611, -0.005, 0.400] +============================================================ + + +============================================================ +SCENE: LivingRoom-29294 | 11 objects +============================================================ +Final Step Collision Loss: 0.0049, Room Outer Loss: 0.2138, Walkable Loss: 2.1682 (Center Penalty: 2.4433, C1 Heatmap: 0.9418, C2 Repulsion: 5.6987), Relational Loss: 0.0228 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.663 1.113 0.507 -2.260 0.001 -1.991 0.02° +table 0.629 1.300 0.438 2.117 0.001 -2.119 0.10° +sofa 2.167 0.881 1.018 -2.138 -0.002 0.278 89.94° +table 1.393 0.454 0.968 -0.416 -0.000 0.133 -0.03° +chair 0.798 0.813 0.727 2.189 0.002 0.032 -62.56° +sofa 1.909 0.660 0.902 -0.373 0.000 -1.782 -0.03° +table 0.474 0.813 0.444 1.321 0.001 -2.083 -0.03° +table 0.575 0.721 0.552 -1.819 0.002 -1.865 0.01° +lamp 0.786 0.779 0.779 0.028 1.905 -0.037 0.01° +floor 5.684 0.001 4.792 -0.292 0.000 -0.260 -0.01° +_scene_ 0.223 0.081 0.593 -4.650 0.003 -4.675 -63.38° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.179, 0.721, 0.403] + !! OVERLAP: table <-> floor depth=[0.663, 0.001, 0.507] + !! OVERLAP: table <-> floor depth=[0.629, 0.001, 0.438] + !! OVERLAP: sofa <-> table depth=[0.059, 0.454, 0.848] + !! OVERLAP: sofa <-> floor depth=[2.079, 0.001, 1.018] + !! OVERLAP: table <-> floor depth=[1.393, 0.001, 0.968] + !! OVERLAP: chair <-> floor depth=[0.760, 0.001, 0.727] + !! OVERLAP: sofa <-> floor depth=[1.909, 0.001, 0.902] + !! OVERLAP: table <-> floor depth=[0.474, 0.001, 0.444] + !! OVERLAP: table <-> floor depth=[0.575, 0.001, 0.552] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35401 | 11 objects +============================================================ +Final Step Collision Loss: 0.0097, Room Outer Loss: 0.4450, Walkable Loss: 1.2915 (Center Penalty: 0.9974, C1 Heatmap: 0.7849, C2 Repulsion: 4.7885), Relational Loss: 0.0123 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.607 0.869 0.630 -0.359 0.000 1.128 89.99° +chair 0.614 0.861 0.620 -0.470 0.001 1.511 89.91° +chair 0.521 0.927 0.679 0.973 -0.000 0.822 -90.01° +chair 0.550 0.855 0.624 0.811 0.001 1.774 -90.18° +sofa 2.057 0.913 0.901 -1.092 -0.000 -1.498 89.99° +table 1.864 2.033 0.545 -1.532 0.004 0.298 90.14° +table 0.912 0.390 0.926 0.121 -0.001 -1.961 -90.09° +lamp 0.635 0.585 0.378 0.009 2.368 -1.537 -0.08° +lamp 0.131 0.583 0.107 0.567 2.099 1.311 -89.93° +floor 3.904 -0.001 6.646 -0.032 -0.001 -0.165 -0.03° +_scene_ 0.069 0.003 0.020 -5.666 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.500, 0.861, 0.242] + !! OVERLAP: chair <-> floor depth=[0.607, -0.001, 0.630] + !! OVERLAP: chair <-> floor depth=[0.614, -0.001, 0.620] + !! OVERLAP: chair <-> floor depth=[0.521, -0.001, 0.679] + !! OVERLAP: chair <-> floor depth=[0.550, -0.001, 0.624] + !! OVERLAP: sofa <-> table depth=[0.272, 0.390, 0.450] + !! OVERLAP: sofa <-> floor depth=[1.921, -0.001, 0.901] + !! OVERLAP: table <-> floor depth=[1.384, -0.001, 0.545] + !! OVERLAP: table <-> floor depth=[0.912, -0.001, 0.926] +============================================================ + + +============================================================ +SCENE: LivingRoom-35085 | 10 objects +============================================================ +Final Step Collision Loss: 0.0018, Room Outer Loss: 1.0001, Walkable Loss: 2.2761 (Center Penalty: 2.7964, C1 Heatmap: 0.9674, C2 Repulsion: 4.9089), Relational Loss: 0.0318 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.440 0.882 0.969 1.210 -0.001 -0.272 -90.05° +table 0.586 0.505 0.507 1.225 -0.000 1.572 -89.92° +table 0.505 0.492 0.390 1.330 -0.001 -2.074 -90.33° +table 1.214 0.388 1.161 0.005 -0.001 -0.150 -89.93° +chair 0.800 0.876 0.742 -1.176 0.000 -1.533 0.06° +chair 0.823 0.869 0.829 -1.330 -0.002 1.604 176.82° +tv_stand 1.848 0.526 0.393 -1.532 0.001 -0.328 90.06° +lamp 0.472 0.917 0.450 -0.053 1.702 -0.329 0.03° +floor 4.001 -0.002 5.402 -0.132 0.000 -0.170 -0.01° +_scene_ 0.067 -0.000 0.021 -5.670 -0.003 -5.713 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.622, 0.388, 0.944] + !! OVERLAP: sofa <-> floor depth=[1.879, -0.002, 0.969] + !! OVERLAP: table <-> floor depth=[0.586, -0.002, 0.507] + !! OVERLAP: table <-> floor depth=[0.505, -0.002, 0.390] + !! OVERLAP: table <-> floor depth=[1.214, -0.002, 1.161] + !! OVERLAP: chair <-> floor depth=[0.800, -0.002, 0.742] + !! OVERLAP: chair <-> floor depth=[0.823, -0.002, 0.829] + !! OVERLAP: tv_stand <-> floor depth=[1.524, -0.002, 0.393] +============================================================ + + +============================================================ +SCENE: LivingRoom-25582 | 12 objects +============================================================ +Final Step Collision Loss: 0.0432, Room Outer Loss: 0.0000, Walkable Loss: 2.1701 (Center Penalty: 1.9563, C1 Heatmap: 1.0068, C2 Repulsion: 7.8921), Relational Loss: 0.0371 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.462 0.728 0.857 -0.851 0.000 1.599 -179.94° +table 0.472 0.456 0.501 -0.968 -0.001 -0.371 -90.13° +tv_stand 1.427 0.331 0.398 -0.381 0.005 -2.112 0.04° +chair 0.779 1.126 0.923 1.580 0.002 -0.675 0.05° +chair 0.702 1.044 0.781 1.479 0.001 -1.040 0.00° +chair 0.600 1.095 0.679 1.246 -0.000 1.289 89.94° +chair 0.596 0.940 0.766 1.691 -0.000 1.653 179.95° +table 0.662 0.735 0.575 1.597 -0.000 0.155 0.03° +table 1.975 0.842 0.613 0.742 0.002 2.150 179.85° +lamp 0.572 0.602 0.569 0.111 2.121 -0.332 0.00° +floor 4.321 -0.000 5.774 -0.160 0.001 -0.067 -0.04° +_scene_ 0.061 0.000 0.019 -5.671 -0.005 -5.719 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.626, 0.728, 0.184] + !! OVERLAP: sofa <-> floor depth=[2.462, -0.000, 0.857] + !! OVERLAP: table <-> floor depth=[0.472, -0.000, 0.501] + !! OVERLAP: tv_stand <-> floor depth=[1.427, -0.000, 0.398] + !! OVERLAP: chair <-> chair depth=[0.640, 1.044, 0.487] + !! OVERLAP: chair <-> floor depth=[0.779, -0.000, 0.923] + !! OVERLAP: chair <-> floor depth=[0.702, -0.000, 0.781] + !! OVERLAP: chair <-> chair depth=[0.154, 0.940, 0.359] + !! OVERLAP: chair <-> floor depth=[0.600, -0.000, 0.679] + !! OVERLAP: chair <-> table depth=[0.336, 0.842, 0.193] + !! OVERLAP: chair <-> floor depth=[0.596, -0.000, 0.766] + !! OVERLAP: table <-> floor depth=[0.662, -0.000, 0.575] + !! OVERLAP: table <-> floor depth=[1.975, -0.000, 0.613] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-109935 | 14 objects +============================================================ +Final Step Collision Loss: 0.0232, Room Outer Loss: 0.1546, Walkable Loss: 2.7259 (Center Penalty: 1.4900, C1 Heatmap: 1.3886, C2 Repulsion: 14.2547), Relational Loss: 0.0197 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.132 0.678 0.840 -1.446 0.000 0.527 89.99° +chair 0.772 0.829 0.863 -1.950 -0.001 2.104 90.06° +table 1.567 0.340 1.311 -0.005 -0.001 1.555 -89.99° +chair 0.698 0.549 0.656 -0.553 -0.002 0.102 0.01° +tv_stand 1.928 0.498 0.444 0.867 0.005 1.401 -89.85° +table 2.509 0.733 1.202 -0.016 -0.000 -1.027 -90.13° +chair 0.419 0.863 0.522 -0.397 0.001 -2.124 0.02° +chair 0.508 0.843 0.546 -0.512 0.002 -1.520 89.94° +chair 0.439 0.818 0.543 0.465 0.001 -2.337 -90.17° +chair 0.456 0.842 0.503 0.711 0.003 -1.212 179.97° +lamp 0.655 0.984 0.480 -0.207 1.607 1.057 -0.07° +lamp 0.739 0.577 0.352 -0.122 2.224 -1.767 -89.95° +floor 4.115 -0.002 5.911 -0.369 0.001 0.327 -0.02° +_scene_ 0.068 0.003 0.020 -5.668 -0.005 -5.715 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.409, 0.340, 0.047] + !! OVERLAP: sofa <-> chair depth=[0.522, 0.549, 0.323] + !! OVERLAP: sofa <-> floor depth=[2.046, -0.002, 0.840] + !! OVERLAP: chair <-> floor depth=[0.772, -0.002, 0.863] + !! OVERLAP: table <-> tv_stand depth=[0.876, 0.340, 0.444] + !! OVERLAP: table <-> floor depth=[1.567, -0.002, 1.311] + !! OVERLAP: chair <-> floor depth=[0.698, -0.002, 0.656] + !! OVERLAP: tv_stand <-> floor depth=[1.786, -0.002, 0.444] + !! OVERLAP: table <-> chair depth=[0.508, 0.733, 0.380] + !! OVERLAP: table <-> chair depth=[0.456, 0.733, 0.503] + !! OVERLAP: table <-> floor depth=[2.509, -0.002, 1.202] + !! OVERLAP: chair <-> floor depth=[0.419, -0.002, 0.522] + !! OVERLAP: chair <-> floor depth=[0.508, -0.002, 0.546] + !! OVERLAP: chair <-> floor depth=[0.439, -0.002, 0.543] + !! OVERLAP: chair <-> floor depth=[0.456, -0.002, 0.503] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-76396 | 19 objects +============================================================ +Final Step Collision Loss: 0.0107, Room Outer Loss: 0.7346, Walkable Loss: 2.2000 (Center Penalty: 0.5472, C1 Heatmap: 1.2020, C2 Repulsion: 14.4557), Relational Loss: 0.0110 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.123 0.848 0.940 -2.414 0.002 1.906 180.00° +sofa 1.982 0.882 1.450 -3.347 -0.002 0.649 89.94° +table 0.625 0.393 0.553 -2.455 0.001 0.592 -0.00° +tv_stand 2.234 0.606 0.451 -2.104 0.001 -1.477 -0.02° +chair 0.883 0.938 0.858 -0.785 -0.002 0.879 -71.62° +table 1.797 0.739 1.125 2.377 0.001 0.483 -0.00° +chair 0.517 0.798 0.577 3.367 0.001 1.009 -90.20° +chair 0.469 0.786 0.579 2.855 -0.003 1.198 179.91° +chair 0.488 0.744 0.608 2.936 -0.000 0.012 0.04° +chair 0.558 0.775 0.619 3.608 0.002 0.118 -90.10° +table 1.213 1.403 0.339 0.954 0.002 -1.434 0.03° +cabinet 1.790 2.034 0.413 1.524 0.000 2.439 -179.85° +table 0.623 0.448 0.655 -0.201 0.000 1.983 -0.02° +table 0.523 0.486 0.523 -3.375 -0.002 2.266 -179.89° +lamp 0.686 0.493 0.685 -1.611 2.684 0.290 0.04° +lamp 0.574 0.937 0.606 1.815 1.999 0.373 -0.04° +table 1.334 1.272 0.267 3.428 0.002 -2.446 0.10° +floor 8.177 -0.006 5.563 -0.428 0.001 0.605 0.00° +_scene_ 0.089 -0.001 0.025 -5.667 -0.002 -5.711 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.361, 0.486, 0.371] + !! OVERLAP: sofa <-> floor depth=[2.123, -0.006, 0.940] + !! OVERLAP: sofa <-> table depth=[0.410, 0.393, 0.553] + !! OVERLAP: sofa <-> floor depth=[1.982, -0.006, 1.450] + !! OVERLAP: table <-> floor depth=[0.625, -0.006, 0.553] + !! OVERLAP: tv_stand <-> floor depth=[2.234, -0.006, 0.451] + !! OVERLAP: chair <-> floor depth=[0.883, -0.006, 0.858] + !! OVERLAP: table <-> chair depth=[0.167, 0.739, 0.325] + !! OVERLAP: table <-> chair depth=[0.469, 0.739, 0.137] + !! OVERLAP: table <-> chair depth=[0.488, 0.739, 0.396] + !! OVERLAP: table <-> floor depth=[1.797, -0.006, 1.125] + !! OVERLAP: chair <-> floor depth=[0.517, -0.006, 0.577] + !! OVERLAP: chair <-> floor depth=[0.469, -0.006, 0.579] + !! OVERLAP: chair <-> floor depth=[0.488, -0.006, 0.608] + !! OVERLAP: chair <-> floor depth=[0.331, -0.006, 0.619] + !! OVERLAP: table <-> floor depth=[1.213, -0.006, 0.339] + !! OVERLAP: cabinet <-> floor depth=[1.790, -0.006, 0.413] + !! OVERLAP: table <-> floor depth=[0.623, -0.006, 0.655] + !! OVERLAP: table <-> floor depth=[0.523, -0.006, 0.523] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-18728 | 15 objects +============================================================ +Final Step Collision Loss: 0.0367, Room Outer Loss: 0.5945, Walkable Loss: 2.1337 (Center Penalty: 1.3547, C1 Heatmap: 1.2356, C2 Repulsion: 9.6208), Relational Loss: 0.0117 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.422 1.043 0.331 -1.603 -0.001 -2.902 0.23° +table 1.145 0.831 0.331 1.808 0.003 -1.877 -90.21° +tv_stand 1.964 0.417 0.327 1.166 -0.002 1.737 -90.19° +sofa 2.257 0.718 0.931 -1.603 0.000 2.139 89.99° +chair 0.815 0.725 0.832 -2.208 0.001 2.656 89.90° +table 2.347 0.767 1.133 -0.266 -0.002 -1.448 -90.01° +chair 0.465 0.762 0.511 0.637 0.003 -1.633 0.05° +chair 0.467 0.713 0.513 -0.302 0.000 -1.768 0.02° +chair 0.481 0.754 0.476 -0.464 0.007 -0.666 179.99° +chair 0.464 0.735 0.520 0.429 0.002 -0.430 179.97° +table 1.544 0.393 1.307 0.057 -0.001 2.217 -89.96° +lamp 0.532 0.553 0.522 -0.139 2.162 1.633 -90.08° +lamp 1.147 0.607 0.225 0.084 2.137 -1.089 -0.03° +floor 4.842 -0.004 6.992 -0.354 0.002 0.645 -0.06° +_scene_ 0.067 0.001 0.024 -5.670 -0.004 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.422, -0.004, 0.114] + !! OVERLAP: table <-> floor depth=[0.831, -0.004, 0.331] + !! OVERLAP: tv_stand <-> table depth=[0.645, 0.393, 0.327] + !! OVERLAP: tv_stand <-> floor depth=[1.883, -0.004, 0.327] + !! OVERLAP: sofa <-> chair depth=[0.815, 0.718, 0.365] + !! OVERLAP: sofa <-> table depth=[0.241, 0.393, 0.931] + !! OVERLAP: sofa <-> floor depth=[2.257, -0.004, 0.931] + !! OVERLAP: chair <-> floor depth=[0.815, -0.004, 0.832] + !! OVERLAP: table <-> chair depth=[0.465, 0.760, 0.511] + !! OVERLAP: table <-> chair depth=[0.467, 0.713, 0.502] + !! OVERLAP: table <-> chair depth=[0.481, 0.752, 0.023] + !! OVERLAP: table <-> floor depth=[2.347, -0.004, 1.133] + !! OVERLAP: chair <-> floor depth=[0.465, -0.004, 0.511] + !! OVERLAP: chair <-> floor depth=[0.467, -0.004, 0.513] + !! OVERLAP: chair <-> floor depth=[0.481, -0.004, 0.476] + !! OVERLAP: chair <-> floor depth=[0.464, -0.004, 0.520] + !! OVERLAP: table <-> floor depth=[1.544, -0.004, 1.307] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-46747 | 17 objects +============================================================ +Final Step Collision Loss: 0.0180, Room Outer Loss: 0.0101, Walkable Loss: 3.1215 (Center Penalty: 2.3877, C1 Heatmap: 1.1478, C2 Repulsion: 14.6856), Relational Loss: 0.0120 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.146 0.714 0.863 -1.020 0.001 1.372 89.98° +chair 0.607 0.919 0.631 0.111 0.001 3.093 179.99° +table 1.684 0.466 1.017 0.174 0.002 1.997 89.92° +table 1.992 0.747 1.457 0.343 0.001 -1.584 0.04° +chair 0.414 0.959 0.461 -0.022 0.001 -0.773 -179.95° +chair 0.426 0.962 0.485 0.745 0.001 -0.727 -180.00° +chair 0.461 0.885 0.503 -0.040 -0.000 -2.276 -0.00° +chair 0.467 0.896 0.564 0.850 0.006 -2.236 -0.01° +table 1.679 0.832 0.478 0.466 -0.000 -3.112 -0.02° +lamp 1.051 1.006 0.944 0.055 1.778 2.008 -0.01° +lamp 1.356 0.937 0.451 0.236 1.945 -1.693 0.00° +lamp 0.959 0.788 0.520 0.498 2.098 -1.906 -0.03° +chair 0.676 0.550 0.613 0.066 -0.004 0.189 14.18° +table 0.905 1.084 0.436 -1.418 0.002 0.691 89.89° +table 0.682 0.886 0.405 -1.608 0.002 3.210 90.03° +floor 3.893 -0.002 8.335 -0.215 0.002 0.076 -0.05° +_scene_ 0.073 0.000 0.024 -5.669 -0.004 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.721, 0.466, 0.314] + !! OVERLAP: sofa <-> floor depth=[2.146, -0.002, 0.863] + !! OVERLAP: chair <-> floor depth=[0.607, -0.002, 0.631] + !! OVERLAP: table <-> floor depth=[1.684, -0.002, 1.017] + !! OVERLAP: table <-> chair depth=[0.414, 0.747, 0.148] + !! OVERLAP: table <-> chair depth=[0.426, 0.747, 0.114] + !! OVERLAP: table <-> chair depth=[0.461, 0.747, 0.288] + !! OVERLAP: table <-> chair depth=[0.467, 0.747, 0.358] + !! OVERLAP: table <-> floor depth=[1.992, -0.002, 1.457] + !! OVERLAP: chair <-> floor depth=[0.414, -0.002, 0.461] + !! OVERLAP: chair <-> floor depth=[0.426, -0.002, 0.485] + !! OVERLAP: chair <-> floor depth=[0.461, -0.002, 0.503] + !! OVERLAP: chair <-> floor depth=[0.467, -0.002, 0.564] + !! OVERLAP: table <-> floor depth=[1.679, -0.002, 0.478] + !! OVERLAP: lamp <-> lamp depth=[0.896, 0.710, 0.272] + !! OVERLAP: chair <-> floor depth=[0.676, -0.002, 0.613] + !! OVERLAP: table <-> floor depth=[0.905, -0.002, 0.436] + !! OVERLAP: table <-> floor depth=[0.682, -0.002, 0.405] +============================================================ + + +============================================================ +SCENE: LivingRoom-88425 | 19 objects +============================================================ +Final Step Collision Loss: 0.0216, Room Outer Loss: 0.1002, Walkable Loss: 2.5636 (Center Penalty: 0.7552, C1 Heatmap: 1.2400, C2 Repulsion: 16.9002), Relational Loss: 0.0117 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.810 0.754 0.818 -1.917 0.001 1.392 90.01° +chair 1.588 0.812 0.608 -0.801 0.004 0.114 18.69° +sofa 2.080 0.973 0.867 -0.436 0.002 3.586 -179.99° +table 0.503 0.393 0.450 -0.549 0.001 1.974 90.04° +table 0.494 0.503 0.455 -1.715 0.002 0.011 90.04° +table 0.572 0.525 0.473 -1.821 -0.002 3.167 90.04° +table 2.853 0.841 1.049 -0.944 -0.000 -2.082 0.04° +chair 0.522 0.655 0.528 -0.569 0.000 -2.745 -0.21° +chair 0.505 0.751 0.505 -0.665 -0.001 -1.319 179.97° +chair 0.519 0.711 0.555 0.118 0.001 -1.692 179.96° +chair 0.483 0.722 0.487 -0.975 -0.000 -1.572 162.05° +chair 0.448 0.671 0.492 -1.387 0.001 -2.503 89.95° +chair 0.537 0.694 0.608 0.330 0.000 -2.546 -90.01° +lamp 1.043 0.786 0.764 -0.707 1.927 1.624 0.00° +lamp 0.867 0.823 0.879 -0.308 1.899 -2.259 0.00° +table 1.071 1.670 0.366 -0.068 -0.004 -3.657 0.09° +tv_stand 1.622 0.470 0.396 1.220 0.002 1.899 -90.04° +floor 4.995 0.001 7.742 -0.464 -0.001 0.002 -0.04° +_scene_ 0.074 0.001 0.024 -5.666 -0.004 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.810, 0.001, 0.818] + !! OVERLAP: chair <-> table depth=[0.127, 0.503, 0.428] + !! OVERLAP: chair <-> floor depth=[1.588, 0.001, 0.608] + !! OVERLAP: sofa <-> floor depth=[2.080, 0.001, 0.720] + !! OVERLAP: table <-> floor depth=[0.503, 0.001, 0.450] + !! OVERLAP: table <-> floor depth=[0.494, 0.001, 0.455] + !! OVERLAP: table <-> floor depth=[0.572, 0.001, 0.473] + !! OVERLAP: table <-> chair depth=[0.522, 0.655, 0.125] + !! OVERLAP: table <-> chair depth=[0.505, 0.751, 0.014] + !! OVERLAP: table <-> chair depth=[0.519, 0.711, 0.412] + !! OVERLAP: table <-> chair depth=[0.483, 0.722, 0.258] + !! OVERLAP: table <-> chair depth=[0.448, 0.671, 0.350] + !! OVERLAP: table <-> chair depth=[0.420, 0.694, 0.364] + !! OVERLAP: table <-> floor depth=[2.853, 0.001, 1.049] + !! OVERLAP: chair <-> floor depth=[0.522, 0.001, 0.528] + !! OVERLAP: chair <-> chair depth=[0.184, 0.722, 0.243] + !! OVERLAP: chair <-> floor depth=[0.505, 0.001, 0.505] + !! OVERLAP: chair <-> floor depth=[0.519, 0.001, 0.555] + !! OVERLAP: chair <-> floor depth=[0.483, 0.001, 0.487] + !! OVERLAP: chair <-> floor depth=[0.448, 0.001, 0.492] + !! OVERLAP: chair <-> floor depth=[0.537, 0.001, 0.608] + !! OVERLAP: table <-> floor depth=[1.071, 0.001, 0.366] + !! OVERLAP: tv_stand <-> floor depth=[1.622, 0.001, 0.396] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35769 | 19 objects +============================================================ +Final Step Collision Loss: 0.0137, Room Outer Loss: 0.4856, Walkable Loss: 1.9287 (Center Penalty: 0.5644, C1 Heatmap: 0.5573, C2 Repulsion: 14.2356), Relational Loss: 0.0096 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.022 0.805 0.908 3.461 -0.000 0.728 180.00° +chair 0.866 0.960 0.938 4.998 0.004 -0.748 -90.17° +chair 0.696 1.179 0.734 1.213 -0.007 -0.589 131.28° +table 1.162 0.436 1.036 3.110 0.003 -0.982 -0.03° +table 0.503 0.454 0.558 4.917 -0.002 1.034 179.82° +table 0.603 0.552 0.566 1.641 0.001 0.786 -179.95° +table 1.654 0.755 1.145 -3.329 -0.000 0.968 0.02° +chair 0.597 0.842 0.618 -3.684 0.003 0.286 -0.02° +chair 0.496 0.922 0.574 -3.334 0.000 0.396 0.07° +chair 0.512 0.868 0.550 -3.918 -0.000 1.886 179.95° +chair 0.592 0.906 0.576 -3.147 0.002 2.098 -180.00° +chair 0.588 0.880 0.656 -2.395 -0.002 1.145 -90.25° +chair 0.650 0.833 0.662 -4.579 0.002 0.944 89.83° +cabinet 0.829 1.350 0.433 -0.892 -0.000 2.857 -179.95° +table 1.261 2.063 0.532 -4.951 0.010 0.754 90.69° +lamp 0.827 0.787 0.726 2.797 1.939 -1.013 -0.01° +lamp 1.123 0.982 1.168 -3.909 1.890 1.381 -0.09° +floor 11.361 -0.013 6.308 0.763 0.007 -0.001 -0.04° +_scene_ 0.070 -0.000 0.022 -5.679 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.022, -0.013, 0.908] + !! OVERLAP: chair <-> floor depth=[0.866, -0.013, 0.938] + !! OVERLAP: chair <-> floor depth=[0.696, -0.013, 0.734] + !! OVERLAP: table <-> floor depth=[1.162, -0.013, 1.036] + !! OVERLAP: table <-> floor depth=[0.503, -0.013, 0.558] + !! OVERLAP: table <-> floor depth=[0.603, -0.013, 0.566] + !! OVERLAP: table <-> chair depth=[0.597, 0.755, 0.200] + !! OVERLAP: table <-> chair depth=[0.496, 0.755, 0.287] + !! OVERLAP: table <-> chair depth=[0.187, 0.755, 0.656] + !! OVERLAP: table <-> floor depth=[1.654, -0.013, 1.145] + !! OVERLAP: chair <-> chair depth=[0.197, 0.842, 0.486] + !! OVERLAP: chair <-> floor depth=[0.597, -0.013, 0.618] + !! OVERLAP: chair <-> floor depth=[0.496, -0.013, 0.574] + !! OVERLAP: chair <-> floor depth=[0.512, -0.013, 0.550] + !! OVERLAP: chair <-> floor depth=[0.592, -0.013, 0.576] + !! OVERLAP: chair <-> floor depth=[0.588, -0.013, 0.656] + !! OVERLAP: chair <-> table depth=[0.584, 0.833, 0.407] + !! OVERLAP: chair <-> floor depth=[0.650, -0.013, 0.662] + !! OVERLAP: cabinet <-> floor depth=[0.829, -0.013, 0.433] + !! OVERLAP: table <-> floor depth=[0.597, -0.013, 0.532] +============================================================ + + +============================================================ +SCENE: LivingRoom-1097 | 19 objects +============================================================ +Final Step Collision Loss: 0.0075, Room Outer Loss: 0.1039, Walkable Loss: 2.7293 (Center Penalty: 1.1080, C1 Heatmap: 1.3907, C2 Repulsion: 16.1901), Relational Loss: 0.0132 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.753 1.115 0.373 0.851 0.002 -0.612 -90.00° +sofa 2.365 0.788 1.050 -1.069 -0.001 -0.184 0.01° +table 1.238 0.659 1.223 -1.079 -0.002 -2.613 -0.30° +tv_stand 2.404 0.528 0.420 -0.845 0.001 2.428 179.81° +table 1.475 0.730 1.035 -0.770 -0.001 0.949 -0.04° +chair 0.782 0.884 0.930 0.919 -0.001 1.241 -133.57° +chair 0.478 0.915 0.547 -1.410 -0.000 -3.210 0.02° +chair 0.533 0.909 0.554 -0.912 -0.002 -3.315 -0.10° +chair 0.505 0.962 0.605 -0.806 0.000 -2.062 179.78° +chair 0.499 0.926 0.568 -1.461 -0.001 -1.892 -179.96° +table 0.635 1.309 0.490 0.479 0.001 2.963 0.12° +table 0.650 1.256 0.514 -2.456 -0.004 2.498 0.24° +cabinet 1.702 0.689 0.345 -2.102 0.004 -2.187 90.02° +lamp 0.797 0.845 0.750 -1.083 1.834 1.266 -0.00° +cabinet 1.119 1.253 0.390 1.870 -0.001 -2.306 -90.16° +chair 0.599 0.414 0.485 2.005 0.002 -0.886 -90.00° +lamp 0.738 0.979 0.732 -1.140 1.573 -2.669 0.01° +floor 5.194 -0.001 7.059 -0.268 -0.001 -0.177 -0.04° +_scene_ 0.067 0.000 0.024 -5.669 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.753, -0.001, 0.373] + !! OVERLAP: sofa <-> floor depth=[2.365, -0.001, 1.050] + !! OVERLAP: table <-> chair depth=[0.478, 0.659, 0.288] + !! OVERLAP: table <-> chair depth=[0.533, 0.659, 0.186] + !! OVERLAP: table <-> chair depth=[0.505, 0.659, 0.363] + !! OVERLAP: table <-> chair depth=[0.487, 0.659, 0.174] + !! OVERLAP: table <-> cabinet depth=[0.447, 0.659, 0.345] + !! OVERLAP: table <-> floor depth=[1.238, -0.001, 1.223] + !! OVERLAP: tv_stand <-> floor depth=[2.404, -0.001, 0.420] + !! OVERLAP: table <-> floor depth=[1.475, -0.001, 1.035] + !! OVERLAP: chair <-> floor depth=[0.782, -0.001, 0.930] + !! OVERLAP: chair <-> chair depth=[0.008, 0.909, 0.445] + !! OVERLAP: chair <-> floor depth=[0.478, -0.001, 0.547] + !! OVERLAP: chair <-> floor depth=[0.533, -0.001, 0.554] + !! OVERLAP: chair <-> floor depth=[0.505, -0.001, 0.605] + !! OVERLAP: chair <-> cabinet depth=[0.459, 0.689, 0.161] + !! OVERLAP: chair <-> floor depth=[0.499, -0.001, 0.568] + !! OVERLAP: table <-> floor depth=[0.635, -0.001, 0.490] + !! OVERLAP: table <-> floor depth=[0.650, -0.001, 0.514] + !! OVERLAP: cabinet <-> floor depth=[1.614, -0.001, 0.345] + !! OVERLAP: cabinet <-> floor depth=[1.018, -0.001, 0.390] + !! OVERLAP: chair <-> floor depth=[0.599, -0.001, 0.485] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2729 | 18 objects +============================================================ +Final Step Collision Loss: 0.0115, Room Outer Loss: 0.0000, Walkable Loss: 3.0159 (Center Penalty: 1.7525, C1 Heatmap: 1.2448, C2 Repulsion: 16.4171), Relational Loss: 0.0224 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.523 0.741 1.178 -2.136 -0.000 -0.512 0.03° +lamp 0.334 0.848 0.302 -2.062 1.704 -0.655 0.06° +chair 0.643 0.921 0.707 -1.507 -0.001 -0.213 -90.15° +chair 0.586 0.940 0.599 -1.572 0.000 -1.494 0.02° +chair 0.633 0.895 0.615 -1.611 0.001 0.188 -179.98° +chair 0.553 0.931 0.583 -2.814 0.002 -0.064 179.80° +chair 0.548 0.919 0.548 -3.355 0.002 -0.615 89.77° +chair 0.617 0.850 0.653 -2.664 0.003 -1.723 -0.05° +table 0.845 0.501 1.018 1.912 0.002 -0.637 0.00° +tv_stand 2.310 1.048 0.455 1.544 0.004 0.878 180.00° +sofa 2.567 0.911 1.044 1.128 -0.001 -1.706 -0.02° +chair 0.701 1.117 0.829 2.890 -0.001 -1.251 -56.17° +chair 0.756 0.420 0.457 0.151 0.001 -0.724 90.07° +chair 0.705 0.409 0.482 0.499 0.002 -0.384 89.99° +lamp 0.386 0.694 0.337 1.789 1.880 -0.418 0.06° +cabinet 0.669 0.750 0.455 -2.867 0.001 1.532 179.79° +floor 7.799 0.000 5.744 -0.159 0.001 -0.216 -0.07° +_scene_ 0.078 0.002 0.025 -5.671 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.453, 0.741, 0.643] + !! OVERLAP: table <-> chair depth=[0.553, 0.741, 0.196] + !! OVERLAP: table <-> chair depth=[0.360, 0.741, 0.432] + !! OVERLAP: table <-> floor depth=[1.523, 0.000, 1.178] + !! OVERLAP: chair <-> chair depth=[0.534, 0.895, 0.260] + !! OVERLAP: chair <-> floor depth=[0.643, 0.000, 0.707] + !! OVERLAP: chair <-> floor depth=[0.586, 0.000, 0.599] + !! OVERLAP: chair <-> floor depth=[0.633, 0.000, 0.615] + !! OVERLAP: chair <-> chair depth=[0.009, 0.919, 0.015] + !! OVERLAP: chair <-> floor depth=[0.553, 0.000, 0.583] + !! OVERLAP: chair <-> floor depth=[0.548, 0.000, 0.548] + !! OVERLAP: chair <-> floor depth=[0.617, 0.000, 0.653] + !! OVERLAP: table <-> floor depth=[0.845, 0.000, 1.018] + !! OVERLAP: tv_stand <-> floor depth=[2.310, 0.000, 0.455] + !! OVERLAP: sofa <-> floor depth=[2.567, 0.000, 1.044] + !! OVERLAP: chair <-> floor depth=[0.701, 0.000, 0.829] + !! OVERLAP: chair <-> chair depth=[0.383, 0.409, 0.129] + !! OVERLAP: chair <-> floor depth=[0.756, 0.000, 0.457] + !! OVERLAP: chair <-> floor depth=[0.705, 0.000, 0.482] + !! OVERLAP: cabinet <-> floor depth=[0.669, 0.000, 0.455] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19784 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2153, Walkable Loss: 1.6796 (Center Penalty: 0.9505, C1 Heatmap: 0.9708, C2 Repulsion: 8.1596), Relational Loss: 0.0192 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.195 0.800 0.948 1.391 0.001 -2.070 -90.15° +chair 0.779 1.016 0.784 0.450 0.005 -3.558 -0.06° +table 1.294 0.458 1.064 0.305 0.003 -1.379 90.00° +table 0.331 1.203 0.407 2.135 0.001 -3.097 -89.94° +tv_stand 1.857 0.635 0.454 -1.257 0.003 -1.498 90.02° +table 1.242 0.827 1.187 0.763 0.001 1.427 -90.04° +chair 0.565 1.099 0.622 -0.330 0.002 1.144 89.92° +chair 0.533 1.063 0.621 -0.257 0.002 1.992 89.96° +chair 0.499 1.100 0.567 1.626 0.001 1.095 -90.06° +chair 0.449 1.014 0.534 1.665 -0.001 2.041 -90.37° +lamp 1.080 1.414 1.021 -0.008 1.931 -1.307 0.10° +lamp 0.864 1.015 0.783 0.785 1.755 1.415 0.05° +floor 4.855 -0.005 7.177 0.168 -0.001 -0.303 -0.07° +_scene_ 0.069 0.001 0.023 -5.672 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.659, 0.458, 0.315] + !! OVERLAP: sofa <-> floor depth=[2.195, -0.005, 0.948] + !! OVERLAP: chair <-> floor depth=[0.779, -0.005, 0.725] + !! OVERLAP: table <-> tv_stand depth=[0.013, 0.458, 0.454] + !! OVERLAP: table <-> floor depth=[1.294, -0.005, 1.064] + !! OVERLAP: table <-> floor depth=[0.331, -0.005, 0.407] + !! OVERLAP: tv_stand <-> floor depth=[1.857, -0.005, 0.454] + !! OVERLAP: table <-> chair depth=[0.007, 0.827, 0.544] + !! OVERLAP: table <-> floor depth=[1.242, -0.005, 1.187] + !! OVERLAP: chair <-> floor depth=[0.565, -0.005, 0.622] + !! OVERLAP: chair <-> floor depth=[0.533, -0.005, 0.621] + !! OVERLAP: chair <-> floor depth=[0.499, -0.005, 0.567] + !! OVERLAP: chair <-> floor depth=[0.449, -0.005, 0.534] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10493 | 16 objects +============================================================ +Final Step Collision Loss: 0.0119, Room Outer Loss: 0.1336, Walkable Loss: 1.2681 (Center Penalty: 0.0751, C1 Heatmap: 0.8406, C2 Repulsion: 8.9439), Relational Loss: 0.0098 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.584 0.996 0.570 -1.358 1.903 -2.669 -0.09° +table 1.744 0.830 1.266 1.441 -0.001 -2.237 -90.12° +chair 0.504 0.703 0.503 1.562 -0.000 -2.890 -0.04° +chair 0.599 0.749 0.534 0.779 0.002 -2.772 -0.02° +chair 0.552 0.748 0.545 1.589 0.001 -1.263 -179.94° +chair 0.497 0.755 0.616 0.383 0.001 -1.527 179.91° +lamp 0.966 0.925 0.987 -1.614 1.787 1.777 -179.90° +table 0.536 0.574 0.499 -3.033 0.002 0.015 89.97° +table 0.659 0.525 0.613 -3.298 0.005 3.376 89.93° +table 1.233 0.391 1.023 -1.685 -0.000 1.805 89.96° +tv_stand 1.483 0.589 0.376 -0.069 -0.000 1.798 -90.01° +sofa 2.221 0.921 0.851 -3.041 0.001 1.690 89.94° +chair 0.882 1.068 0.896 -1.784 0.003 3.220 178.76° +table 0.990 0.623 0.514 -1.548 -0.002 -0.001 -179.83° +floor 6.862 -0.002 7.901 -1.113 0.001 -0.005 0.09° +_scene_ 0.066 0.003 0.021 -5.666 -0.007 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.504, 0.703, 0.231] + !! OVERLAP: table <-> chair depth=[0.509, 0.749, 0.364] + !! OVERLAP: table <-> chair depth=[0.063, 0.755, 0.231] + !! OVERLAP: table <-> floor depth=[1.744, -0.002, 1.266] + !! OVERLAP: chair <-> floor depth=[0.504, -0.002, 0.503] + !! OVERLAP: chair <-> floor depth=[0.599, -0.002, 0.534] + !! OVERLAP: chair <-> floor depth=[0.552, -0.002, 0.545] + !! OVERLAP: chair <-> floor depth=[0.497, -0.002, 0.616] + !! OVERLAP: table <-> floor depth=[0.536, -0.002, 0.499] + !! OVERLAP: table <-> floor depth=[0.659, -0.002, 0.613] + !! OVERLAP: table <-> sofa depth=[0.371, 0.391, 0.822] + !! OVERLAP: table <-> floor depth=[1.233, -0.002, 1.023] + !! OVERLAP: tv_stand <-> floor depth=[1.483, -0.002, 0.376] + !! OVERLAP: sofa <-> floor depth=[2.221, -0.002, 0.851] + !! OVERLAP: chair <-> floor depth=[0.882, -0.002, 0.896] + !! OVERLAP: table <-> floor depth=[0.990, -0.002, 0.514] +============================================================ + + +============================================================ +SCENE: LivingRoom-23405 | 10 objects +============================================================ +Final Step Collision Loss: 0.0448, Room Outer Loss: 0.0000, Walkable Loss: 2.3124 (Center Penalty: 3.0252, C1 Heatmap: 0.5659, C2 Repulsion: 5.7350), Relational Loss: 0.0212 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.545 0.734 0.936 -0.661 0.001 -0.040 90.01° +chair 0.580 0.918 0.636 -1.750 0.001 0.434 89.85° +chair 0.528 0.916 0.559 -1.648 0.001 -0.164 89.99° +chair 0.448 0.949 0.536 -0.512 0.007 0.574 -90.15° +chair 0.555 0.940 0.601 -0.511 0.003 -0.454 -89.94° +table 1.443 0.716 0.600 1.215 -0.001 0.416 -89.90° +cabinet 0.812 1.397 0.484 1.477 0.003 -1.318 0.04° +lamp 0.456 0.522 0.460 -0.157 2.035 -0.205 -0.05° +floor 5.125 -0.003 2.928 0.176 0.000 -0.100 0.00° +_scene_ 0.068 0.000 0.021 -5.673 -0.004 -5.717 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.049, 0.734, 0.559] + !! OVERLAP: table <-> chair depth=[0.448, 0.734, 0.122] + !! OVERLAP: table <-> chair depth=[0.555, 0.734, 0.354] + !! OVERLAP: table <-> floor depth=[1.545, -0.003, 0.936] + !! OVERLAP: chair <-> chair depth=[0.452, 0.916, 0.000] + !! OVERLAP: chair <-> floor depth=[0.580, -0.003, 0.636] + !! OVERLAP: chair <-> floor depth=[0.528, -0.003, 0.559] + !! OVERLAP: chair <-> floor depth=[0.448, -0.003, 0.536] + !! OVERLAP: chair <-> floor depth=[0.555, -0.003, 0.601] + !! OVERLAP: table <-> floor depth=[1.443, -0.003, 0.600] + !! OVERLAP: cabinet <-> floor depth=[0.812, -0.003, 0.484] +============================================================ + + +============================================================ +SCENE: LivingRoom-3797 | 13 objects +============================================================ +Final Step Collision Loss: 0.0190, Room Outer Loss: 0.6457, Walkable Loss: 1.7673 (Center Penalty: 0.8210, C1 Heatmap: 0.9499, C2 Repulsion: 9.7685), Relational Loss: 0.0207 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.917 0.808 0.959 1.497 -0.001 1.425 -90.08° +table 0.883 0.325 0.852 0.052 -0.001 1.412 -89.99° +table 1.680 0.780 1.096 1.190 -0.001 -0.638 0.05° +chair 0.443 0.831 0.491 1.018 0.001 -0.142 179.99° +chair 0.464 0.797 0.517 1.617 0.001 -0.288 179.98° +chair 0.492 0.838 0.457 0.945 0.001 -1.301 -0.08° +chair 0.501 0.796 0.478 1.716 0.002 -1.420 0.02° +tv_stand 2.045 0.652 0.401 -1.099 -0.001 1.382 89.95° +cabinet 0.843 1.079 0.184 -0.318 -0.003 -1.978 0.24° +lamp 0.493 0.446 0.359 0.032 2.171 1.699 0.02° +lamp 0.198 1.243 0.192 1.413 1.580 -0.720 0.02° +floor 3.998 -0.004 5.010 0.134 0.001 0.454 0.01° +_scene_ 0.070 0.001 0.025 -5.669 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.594, -0.004, 0.959] + !! OVERLAP: table <-> tv_stand depth=[0.313, 0.325, 0.401] + !! OVERLAP: table <-> floor depth=[0.883, -0.004, 0.852] + !! OVERLAP: table <-> chair depth=[0.443, 0.780, 0.297] + !! OVERLAP: table <-> chair depth=[0.464, 0.780, 0.456] + !! OVERLAP: table <-> chair depth=[0.492, 0.780, 0.114] + !! OVERLAP: table <-> chair depth=[0.501, 0.780, 0.005] + !! OVERLAP: table <-> floor depth=[1.680, -0.004, 1.096] + !! OVERLAP: chair <-> floor depth=[0.443, -0.004, 0.491] + !! OVERLAP: chair <-> floor depth=[0.464, -0.004, 0.517] + !! OVERLAP: chair <-> floor depth=[0.492, -0.004, 0.457] + !! OVERLAP: chair <-> floor depth=[0.501, -0.004, 0.478] + !! OVERLAP: tv_stand <-> floor depth=[1.788, -0.004, 0.401] + !! OVERLAP: cabinet <-> floor depth=[0.843, -0.004, 0.165] +============================================================ + + +============================================================ +SCENE: LivingRoom-50084 | 12 objects +============================================================ +Final Step Collision Loss: 0.0035, Room Outer Loss: 0.3406, Walkable Loss: 1.5209 (Center Penalty: 1.1295, C1 Heatmap: 0.8229, C2 Repulsion: 6.2700), Relational Loss: 0.0130 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.791 0.803 0.881 -0.723 -0.005 3.117 151.32° +chair 0.754 0.349 0.422 -0.641 0.001 0.189 0.03° +table 0.536 0.412 0.616 -0.546 0.002 1.797 -0.02° +table 0.995 0.657 0.607 0.692 -0.000 0.252 -0.02° +table 0.793 0.583 0.854 0.582 0.004 2.704 -0.10° +tv_stand 2.604 0.840 0.479 -1.831 0.005 1.755 89.95° +cabinet 0.995 1.028 0.378 2.133 0.001 -1.156 -89.80° +lamp 0.927 0.565 0.338 -0.310 2.002 1.274 0.16° +lamp 0.492 0.314 0.504 2.248 2.149 -2.274 -0.17° +sofa 2.229 0.900 0.805 0.658 0.002 1.949 179.86° +floor 5.910 0.002 7.218 0.041 0.001 0.654 -0.09° +_scene_ 0.064 0.001 0.019 -5.671 -0.004 -5.715 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.791, 0.002, 0.881] + !! OVERLAP: chair <-> floor depth=[0.754, 0.002, 0.422] + !! OVERLAP: table <-> tv_stand depth=[0.284, 0.412, 0.479] + !! OVERLAP: table <-> sofa depth=[0.179, 0.412, 0.559] + !! OVERLAP: table <-> floor depth=[0.536, 0.002, 0.616] + !! OVERLAP: table <-> floor depth=[0.995, 0.002, 0.607] + !! OVERLAP: table <-> sofa depth=[0.793, 0.583, 0.074] + !! OVERLAP: table <-> floor depth=[0.793, 0.002, 0.854] + !! OVERLAP: tv_stand <-> floor depth=[2.385, 0.002, 0.479] + !! OVERLAP: cabinet <-> floor depth=[0.995, 0.002, 0.378] + !! OVERLAP: sofa <-> floor depth=[2.229, 0.002, 0.805] +============================================================ + + +============================================================ +SCENE: LivingRoom-1772 | 15 objects +============================================================ +Final Step Collision Loss: 0.0050, Room Outer Loss: 0.0000, Walkable Loss: 2.2890 (Center Penalty: 1.5141, C1 Heatmap: 1.0784, C2 Repulsion: 11.0055), Relational Loss: 0.0174 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.919 0.801 0.918 2.097 0.005 1.208 179.91° +table 1.249 0.430 1.054 1.997 0.000 -0.015 -0.03° +chair 0.553 0.450 0.517 0.914 -0.001 0.132 -0.02° +bookshelf 3.199 2.689 0.185 -1.396 0.000 2.076 -179.87° +table 1.474 0.762 0.970 -1.285 -0.002 -0.765 0.03° +chair 0.566 0.948 0.598 -1.840 0.000 -1.435 0.09° +chair 0.580 0.900 0.644 -1.866 0.001 -0.267 89.94° +chair 0.604 0.935 0.639 -0.159 -0.000 -1.247 -89.97° +chair 0.558 0.977 0.626 -0.440 0.001 -0.253 -90.00° +lamp 0.589 0.773 0.610 2.037 1.884 -0.491 0.01° +lamp 0.243 0.983 0.215 -1.489 1.390 -1.973 -0.02° +lamp 0.401 0.908 0.231 -1.335 1.480 -1.412 0.01° +lamp 0.348 0.929 0.350 -1.202 1.819 -0.760 0.04° +floor 6.917 -0.004 5.584 0.385 0.002 -0.345 -0.08° +_scene_ 0.066 0.000 0.020 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.919, -0.004, 0.918] + !! OVERLAP: table <-> floor depth=[1.249, -0.004, 1.054] + !! OVERLAP: chair <-> floor depth=[0.553, -0.004, 0.517] + !! OVERLAP: bookshelf <-> floor depth=[3.199, -0.004, 0.185] + !! OVERLAP: table <-> chair depth=[0.465, 0.762, 0.114] + !! OVERLAP: table <-> chair depth=[0.446, 0.762, 0.309] + !! OVERLAP: table <-> chair depth=[0.171, 0.762, 0.286] + !! OVERLAP: table <-> floor depth=[1.474, -0.004, 0.970] + !! OVERLAP: chair <-> floor depth=[0.566, -0.004, 0.598] + !! OVERLAP: chair <-> floor depth=[0.580, -0.004, 0.644] + !! OVERLAP: chair <-> floor depth=[0.604, -0.004, 0.639] + !! OVERLAP: chair <-> floor depth=[0.558, -0.004, 0.626] +============================================================ + + +============================================================ +SCENE: LivingRoom-30098 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.9359, Walkable Loss: 1.8920 (Center Penalty: 1.8474, C1 Heatmap: 1.0373, C2 Repulsion: 5.5341), Relational Loss: 0.0011 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.052 0.758 0.892 -1.426 -0.000 0.260 89.99° +chair 0.781 0.921 0.861 -0.240 -0.002 2.795 169.89° +chair 0.886 1.011 0.806 -0.068 -0.000 -1.308 10.78° +table 0.544 0.407 0.548 -1.371 0.000 -0.956 -0.04° +table 0.589 0.521 0.569 -1.369 -0.001 1.979 -0.08° +table 0.967 0.455 1.126 0.046 0.001 0.795 -0.03° +tv_stand 3.312 2.518 0.429 1.572 -0.002 0.571 -90.07° +cabinet 0.993 0.854 0.334 1.258 0.003 2.820 179.90° +lamp 0.609 0.844 0.599 0.029 1.870 0.434 -0.00° +floor 4.785 0.000 7.036 -0.201 0.001 -0.008 -0.02° +_scene_ 0.073 0.000 0.022 -5.671 -0.005 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.037, 0.455, 0.474] + !! OVERLAP: sofa <-> floor depth=[2.052, 0.000, 0.892] + !! OVERLAP: chair <-> floor depth=[0.781, 0.000, 0.861] + !! OVERLAP: chair <-> floor depth=[0.886, 0.000, 0.806] + !! OVERLAP: table <-> floor depth=[0.544, 0.000, 0.548] + !! OVERLAP: table <-> floor depth=[0.589, 0.000, 0.569] + !! OVERLAP: table <-> tv_stand depth=[0.613, 0.455, 0.429] + !! OVERLAP: table <-> floor depth=[0.967, 0.000, 1.126] + !! OVERLAP: tv_stand <-> floor depth=[2.275, 0.000, 0.429] + !! OVERLAP: cabinet <-> floor depth=[0.993, 0.000, 0.334] +============================================================ + + +============================================================ +SCENE: LivingRoom-3540 | 17 objects +============================================================ +Final Step Collision Loss: 0.0054, Room Outer Loss: 1.1893, Walkable Loss: 2.4266 (Center Penalty: 1.7136, C1 Heatmap: 1.2292, C2 Repulsion: 10.7814), Relational Loss: 0.0228 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.111 0.866 0.919 -1.338 -0.000 -1.528 90.04° +chair 0.943 0.800 0.928 -0.100 0.004 -3.057 16.48° +chair 1.293 0.357 0.489 0.222 0.001 -0.106 90.06° +table 1.305 0.358 0.983 0.322 0.003 -1.481 90.07° +table 0.561 0.634 0.502 -1.498 -0.003 -3.336 -0.10° +table 0.598 0.653 0.556 -1.392 -0.001 0.146 -0.03° +tv_stand 2.296 0.448 0.377 1.630 -0.000 -1.986 -90.22° +table 1.818 0.728 1.345 -0.251 -0.000 2.281 179.87° +chair 0.483 0.604 0.493 0.779 0.001 1.362 -90.04° +chair 0.413 0.521 0.489 0.862 0.007 2.559 -89.95° +chair 0.545 0.655 0.494 -0.718 0.001 1.400 90.08° +chair 0.472 0.569 0.519 -0.677 0.000 2.643 89.99° +table 1.074 0.900 0.407 -1.997 -0.000 2.456 90.13° +lamp 0.771 0.658 0.755 0.114 1.984 -1.645 -0.03° +lamp 0.638 0.843 0.377 0.163 1.665 2.294 -0.01° +floor 4.574 -0.001 8.179 -0.059 -0.001 -0.305 0.02° +_scene_ 0.071 0.001 0.018 -5.666 -0.003 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.048, 0.358, 0.904] + !! OVERLAP: sofa <-> floor depth=[2.063, -0.001, 0.919] + !! OVERLAP: chair <-> floor depth=[0.943, -0.001, 0.928] + !! OVERLAP: chair <-> floor depth=[1.293, -0.001, 0.489] + !! OVERLAP: table <-> tv_stand depth=[0.493, 0.358, 0.175] + !! OVERLAP: table <-> floor depth=[1.305, -0.001, 0.983] + !! OVERLAP: table <-> floor depth=[0.561, -0.001, 0.502] + !! OVERLAP: table <-> floor depth=[0.598, -0.001, 0.556] + !! OVERLAP: tv_stand <-> floor depth=[1.746, -0.001, 0.377] + !! OVERLAP: table <-> chair depth=[0.002, 0.521, 0.489] + !! OVERLAP: table <-> chair depth=[0.545, 0.655, 0.039] + !! OVERLAP: table <-> chair depth=[0.472, 0.569, 0.519] + !! OVERLAP: table <-> floor depth=[1.818, -0.001, 1.345] + !! OVERLAP: chair <-> floor depth=[0.483, -0.001, 0.493] + !! OVERLAP: chair <-> floor depth=[0.413, -0.001, 0.489] + !! OVERLAP: chair <-> floor depth=[0.545, -0.001, 0.494] + !! OVERLAP: chair <-> floor depth=[0.472, -0.001, 0.519] + !! OVERLAP: table <-> floor depth=[0.886, -0.001, 0.407] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2583 | 18 objects +============================================================ +Final Step Collision Loss: 0.0305, Room Outer Loss: 0.1498, Walkable Loss: 3.0011 (Center Penalty: 1.2863, C1 Heatmap: 1.2182, C2 Repulsion: 18.7062), Relational Loss: 0.0144 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.172 0.935 1.002 -1.362 -0.001 1.640 89.97° +table 1.599 0.427 1.195 -0.339 0.000 1.676 -0.02° +chair 0.763 0.897 0.794 -0.297 0.004 3.153 179.95° +table 0.517 0.646 0.467 -1.944 0.001 -0.128 90.07° +table 0.634 0.583 0.456 -2.017 0.004 3.279 90.04° +tv_stand 1.545 0.528 0.379 0.879 0.000 1.566 -89.91° +chair 0.816 1.012 0.822 -0.399 0.001 -0.625 11.94° +table 1.686 0.765 1.119 -0.642 0.000 -2.310 0.00° +chair 0.489 1.080 0.522 -0.998 -0.001 -1.561 -179.97° +chair 0.587 0.973 0.650 -1.044 -0.002 -2.488 -0.00° +chair 0.578 0.969 0.618 -0.509 -0.001 -2.529 -0.14° +chair 0.529 1.039 0.550 -0.484 -0.000 -1.490 179.98° +table 0.603 0.569 0.558 -1.026 -0.001 -3.007 -0.09° +table 0.751 1.228 0.376 1.232 0.005 -3.206 -90.20° +lamp 0.745 0.797 0.760 -0.509 1.861 -2.169 -0.03° +lamp 1.425 1.124 1.402 -0.844 1.749 1.755 0.02° +floor 4.257 0.003 7.217 -0.269 0.000 0.038 -0.02° +_scene_ 0.071 -0.000 0.025 -5.673 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.863, 0.427, 1.002] + !! OVERLAP: sofa <-> floor depth=[2.122, 0.003, 1.002] + !! OVERLAP: table <-> tv_stand depth=[0.354, 0.427, 0.379] + !! OVERLAP: table <-> floor depth=[1.599, 0.003, 1.195] + !! OVERLAP: chair <-> floor depth=[0.763, 0.003, 0.794] + !! OVERLAP: table <-> floor depth=[0.517, 0.003, 0.467] + !! OVERLAP: table <-> floor depth=[0.634, 0.003, 0.456] + !! OVERLAP: tv_stand <-> floor depth=[1.545, 0.003, 0.379] + !! OVERLAP: chair <-> floor depth=[0.816, 0.003, 0.822] + !! OVERLAP: table <-> chair depth=[0.489, 0.765, 0.072] + !! OVERLAP: table <-> chair depth=[0.587, 0.765, 0.650] + !! OVERLAP: table <-> chair depth=[0.578, 0.765, 0.618] + !! OVERLAP: table <-> chair depth=[0.529, 0.765, 0.014] + !! OVERLAP: table <-> table depth=[0.603, 0.569, 0.141] + !! OVERLAP: table <-> floor depth=[1.686, 0.003, 1.119] + !! OVERLAP: chair <-> floor depth=[0.489, 0.003, 0.522] + !! OVERLAP: chair <-> chair depth=[0.047, 0.969, 0.593] + !! OVERLAP: chair <-> table depth=[0.577, 0.569, 0.085] + !! OVERLAP: chair <-> floor depth=[0.587, 0.003, 0.650] + !! OVERLAP: chair <-> table depth=[0.073, 0.569, 0.110] + !! OVERLAP: chair <-> floor depth=[0.578, 0.003, 0.618] + !! OVERLAP: chair <-> floor depth=[0.529, 0.003, 0.550] + !! OVERLAP: table <-> floor depth=[0.603, 0.003, 0.558] + !! OVERLAP: table <-> floor depth=[0.751, 0.003, 0.376] +============================================================ + + +============================================================ +SCENE: LivingRoom-68491 | 13 objects +============================================================ +Final Step Collision Loss: 0.0355, Room Outer Loss: 0.0000, Walkable Loss: 1.9022 (Center Penalty: 1.3835, C1 Heatmap: 0.9400, C2 Repulsion: 8.3438), Relational Loss: 0.0239 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.654 0.880 0.597 -0.488 -0.004 -0.574 -76.30° +table 0.745 0.331 0.683 1.071 0.001 -0.753 0.01° +sofa 2.026 0.811 0.815 1.089 0.002 -1.500 -0.01° +chair 1.038 0.993 0.941 3.094 0.005 -0.006 -107.64° +table 0.594 0.536 0.504 2.889 0.004 -1.826 0.02° +table 0.657 0.496 0.606 -0.207 0.005 -1.621 0.11° +lamp 0.705 0.813 0.711 1.243 1.931 -0.727 0.00° +chair 0.631 1.087 0.719 -2.599 0.003 -1.818 0.01° +chair 0.656 1.005 0.622 -2.667 -0.000 -0.520 89.93° +table 2.730 0.803 0.814 -2.419 0.000 -0.851 90.02° +cabinet 1.118 0.744 0.334 -1.618 0.002 -1.459 0.05° +floor 7.609 -0.002 4.909 -0.032 -0.001 -0.167 -0.01° +_scene_ 0.071 0.000 0.024 -5.672 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.654, -0.002, 0.597] + !! OVERLAP: table <-> sofa depth=[0.745, 0.331, 0.002] + !! OVERLAP: table <-> floor depth=[0.745, -0.002, 0.683] + !! OVERLAP: sofa <-> table depth=[0.046, 0.496, 0.590] + !! OVERLAP: sofa <-> floor depth=[2.026, -0.002, 0.815] + !! OVERLAP: chair <-> floor depth=[1.038, -0.002, 0.941] + !! OVERLAP: table <-> floor depth=[0.594, -0.002, 0.504] + !! OVERLAP: table <-> floor depth=[0.657, -0.002, 0.606] + !! OVERLAP: chair <-> floor depth=[0.631, -0.002, 0.719] + !! OVERLAP: chair <-> table depth=[0.656, 0.803, 0.387] + !! OVERLAP: chair <-> floor depth=[0.656, -0.002, 0.622] + !! OVERLAP: table <-> floor depth=[2.730, -0.002, 0.814] + !! OVERLAP: cabinet <-> floor depth=[1.118, -0.002, 0.334] +============================================================ + + +============================================================ +SCENE: LivingRoom-22102 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2402, Walkable Loss: 1.4133 (Center Penalty: 1.7677, C1 Heatmap: 0.7115, C2 Repulsion: 2.4479), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.293 0.349 0.702 0.374 -0.001 0.313 89.97° +table 0.517 0.557 0.483 -1.099 0.002 -1.719 5.29° +sofa 2.262 0.835 0.990 -1.284 0.000 0.070 89.98° +chair 0.770 0.924 0.834 0.478 -0.000 -1.154 -25.46° +tv_stand 1.558 0.721 0.449 1.803 0.000 0.374 -90.08° +lamp 0.372 0.537 0.390 0.519 2.190 0.656 -0.07° +floor 4.976 -0.003 5.298 -0.205 0.001 -0.230 -0.04° +_scene_ 0.062 0.002 0.021 -5.671 -0.004 -5.712 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.119, 0.349, 0.602] + !! OVERLAP: table <-> floor depth=[1.293, -0.003, 0.702] + !! OVERLAP: table <-> floor depth=[0.517, -0.003, 0.483] + !! OVERLAP: sofa <-> floor depth=[2.262, -0.003, 0.990] + !! OVERLAP: chair <-> floor depth=[0.770, -0.003, 0.834] + !! OVERLAP: tv_stand <-> floor depth=[1.259, -0.003, 0.449] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2106 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4230, Walkable Loss: 0.7681 (Center Penalty: 0.6309, C1 Heatmap: 0.6651, C2 Repulsion: 1.8657), Relational Loss: 0.0325 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.607 0.808 0.547 -0.173 1.912 -2.059 -0.05° +tv_stand 1.787 0.389 0.277 -1.398 0.002 1.669 90.00° +sofa 2.110 0.837 0.930 1.161 -0.000 1.538 -90.10° +cabinet 1.146 1.059 0.447 1.425 -0.001 -0.706 -90.06° +table 1.053 0.458 0.649 0.010 0.002 1.809 90.00° +bookshelf 0.765 2.442 0.388 -1.411 0.000 -0.847 89.92° +lamp 1.081 1.300 1.109 -0.122 1.563 1.324 0.06° +chair 0.528 1.097 0.582 0.117 -0.001 -1.669 166.49° +floor 4.173 -0.002 6.529 -0.037 0.001 0.504 -0.06° +_scene_ 0.069 0.001 0.021 -5.670 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.012, 0.389, 0.277] + !! OVERLAP: tv_stand <-> floor depth=[1.619, -0.002, 0.277] + !! OVERLAP: sofa <-> table depth=[0.431, 0.458, 0.519] + !! OVERLAP: sofa <-> floor depth=[1.944, -0.002, 0.930] + !! OVERLAP: cabinet <-> floor depth=[1.146, -0.002, 0.447] + !! OVERLAP: table <-> floor depth=[1.053, -0.002, 0.649] + !! OVERLAP: bookshelf <-> floor depth=[0.765, -0.002, 0.388] + !! OVERLAP: chair <-> floor depth=[0.528, -0.002, 0.582] +============================================================ + + +============================================================ +SCENE: LivingRoom-38721 | 10 objects +============================================================ +Final Step Collision Loss: 0.2061, Room Outer Loss: 1.2182, Walkable Loss: 1.9972 (Center Penalty: 1.7498, C1 Heatmap: 1.0769, C2 Repulsion: 6.9150), Relational Loss: 0.0210 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.148 0.956 1.163 -1.116 1.937 1.483 -0.03° +tv_stand 1.794 0.421 0.341 1.278 -0.001 -0.965 -90.10° +table 0.819 0.472 0.665 -0.901 0.003 -1.351 90.07° +sofa 3.217 0.831 1.714 -0.666 0.003 0.452 90.02° +table 1.281 0.544 0.769 -0.117 0.001 1.349 179.82° +chair 0.441 0.713 0.491 -1.109 0.001 0.590 0.02° +chair 0.517 0.781 0.549 -0.207 0.003 0.678 0.06° +lamp 0.453 0.318 0.453 -0.595 2.192 -0.887 0.00° +floor 3.315 0.000 5.257 -0.028 0.001 -0.043 -0.02° +_scene_ 0.064 -0.000 0.019 -5.669 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.249, 0.000, 0.341] + !! OVERLAP: table <-> floor depth=[0.819, 0.000, 0.665] + !! OVERLAP: sofa <-> table depth=[1.281, 0.544, 0.345] + !! OVERLAP: sofa <-> chair depth=[0.441, 0.713, 0.491] + !! OVERLAP: sofa <-> chair depth=[0.517, 0.781, 0.549] + !! OVERLAP: sofa <-> floor depth=[2.628, 0.000, 1.714] + !! OVERLAP: table <-> floor depth=[1.281, 0.000, 0.769] + !! OVERLAP: chair <-> floor depth=[0.441, 0.000, 0.491] + !! OVERLAP: chair <-> floor depth=[0.517, 0.000, 0.549] +============================================================ + + +============================================================ +SCENE: LivingRoom-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0376, Room Outer Loss: 0.1618, Walkable Loss: 1.3070 (Center Penalty: 1.1014, C1 Heatmap: 0.9307, C2 Repulsion: 3.8405), Relational Loss: 0.0011 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.098 0.476 0.957 1.267 0.001 0.066 0.02° +table 0.598 0.665 0.564 1.516 -0.001 -0.299 0.08° +sofa 2.937 1.041 0.983 0.603 -0.000 -1.615 -0.02° +chair 0.634 0.800 0.539 -1.223 -0.001 -0.246 135.99° +tv_stand 2.728 0.782 0.568 0.852 0.003 1.693 179.97° +floor 4.874 -0.004 4.036 0.007 0.001 0.032 -0.03° +_scene_ 0.051 -0.002 0.024 -5.644 -0.002 -5.683 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.598, 0.476, 0.396] + !! OVERLAP: table <-> floor depth=[1.098, -0.004, 0.957] + !! OVERLAP: table <-> floor depth=[0.598, -0.004, 0.564] + !! OVERLAP: sofa <-> floor depth=[2.937, -0.004, 0.863] + !! OVERLAP: chair <-> floor depth=[0.634, -0.004, 0.539] + !! OVERLAP: tv_stand <-> floor depth=[2.728, -0.004, 0.568] +============================================================ + + +============================================================ +SCENE: LivingRoom-1618 | 10 objects +============================================================ +Final Step Collision Loss: 0.0572, Room Outer Loss: 0.6649, Walkable Loss: 1.8367 (Center Penalty: 2.0403, C1 Heatmap: 0.8421, C2 Repulsion: 4.7967), Relational Loss: 0.0177 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.795 0.687 0.681 -1.075 0.003 0.217 89.97° +table 1.079 1.069 0.435 -1.429 0.001 -1.948 89.94° +tv_stand 1.654 0.723 0.465 1.129 0.000 0.005 -90.14° +table 2.430 0.749 1.085 -0.539 -0.002 2.106 0.06° +chair 0.372 0.916 0.443 0.311 0.005 2.473 -154.96° +chair 0.502 0.862 0.491 -0.268 0.010 2.525 152.96° +lamp 0.523 0.978 0.521 -0.088 1.747 0.244 -0.03° +chair 0.538 0.372 0.587 -0.174 0.001 -1.850 -0.03° +floor 3.415 -0.002 5.694 -0.028 -0.001 0.235 -0.00° +_scene_ 0.066 0.001 0.029 -5.672 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.558, -0.002, 0.681] + !! OVERLAP: table <-> floor depth=[0.847, -0.002, 0.435] + !! OVERLAP: tv_stand <-> floor depth=[1.377, -0.002, 0.465] + !! OVERLAP: table <-> chair depth=[0.372, 0.749, 0.397] + !! OVERLAP: table <-> chair depth=[0.502, 0.749, 0.368] + !! OVERLAP: table <-> floor depth=[2.412, -0.002, 1.085] + !! OVERLAP: chair <-> floor depth=[0.372, -0.002, 0.443] + !! OVERLAP: chair <-> floor depth=[0.502, -0.002, 0.491] + !! OVERLAP: chair <-> floor depth=[0.538, -0.002, 0.587] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-25795 | 17 objects +============================================================ +Final Step Collision Loss: 0.0033, Room Outer Loss: 0.4256, Walkable Loss: 1.9688 (Center Penalty: 1.2461, C1 Heatmap: 1.0798, C2 Repulsion: 9.1383), Relational Loss: 0.0125 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.563 0.810 0.535 2.236 0.000 0.070 -78.62° +sofa 2.327 0.856 0.969 1.061 -0.001 -1.081 -0.02° +chair 0.713 0.516 0.572 0.079 -0.000 0.295 -89.99° +table 0.413 0.316 0.376 1.025 0.002 -0.437 179.92° +table 0.416 0.409 0.446 2.244 0.002 -1.191 179.98° +table 0.554 0.390 0.500 -0.593 0.003 -1.228 179.84° +table 1.556 0.728 0.803 -2.092 0.003 0.585 179.88° +chair 0.547 0.836 0.480 -2.801 0.001 1.441 -179.93° +chair 0.551 0.778 0.541 -1.813 0.002 1.812 179.93° +chair 0.611 0.813 0.608 -1.932 0.001 0.060 -0.00° +chair 0.619 0.732 0.550 -2.731 0.001 -0.169 -0.02° +tv_stand 2.907 0.772 0.585 1.298 0.002 2.231 179.92° +cabinet 1.023 1.200 0.401 -2.734 -0.000 -2.141 89.99° +lamp 0.274 0.744 0.218 1.340 1.939 0.482 -0.01° +lamp 0.646 0.954 0.641 -1.775 1.952 0.752 0.04° +floor 6.348 -0.003 5.449 -0.624 0.002 0.562 -0.01° +_scene_ 0.074 -0.000 0.018 -5.672 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.563, -0.003, 0.535] + !! OVERLAP: sofa <-> table depth=[0.413, 0.316, 0.028] + !! OVERLAP: sofa <-> table depth=[0.188, 0.409, 0.446] + !! OVERLAP: sofa <-> floor depth=[2.327, -0.003, 0.969] + !! OVERLAP: chair <-> floor depth=[0.713, -0.003, 0.572] + !! OVERLAP: table <-> floor depth=[0.413, -0.003, 0.376] + !! OVERLAP: table <-> floor depth=[0.416, -0.003, 0.446] + !! OVERLAP: table <-> floor depth=[0.554, -0.003, 0.500] + !! OVERLAP: table <-> chair depth=[0.611, 0.728, 0.181] + !! OVERLAP: table <-> floor depth=[1.556, -0.003, 0.803] + !! OVERLAP: chair <-> floor depth=[0.547, -0.003, 0.480] + !! OVERLAP: chair <-> floor depth=[0.551, -0.003, 0.541] + !! OVERLAP: chair <-> floor depth=[0.611, -0.003, 0.608] + !! OVERLAP: chair <-> floor depth=[0.619, -0.003, 0.550] + !! OVERLAP: tv_stand <-> floor depth=[2.706, -0.003, 0.585] + !! OVERLAP: cabinet <-> floor depth=[1.023, -0.003, 0.221] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-62037 | 16 objects +============================================================ +Final Step Collision Loss: 0.0171, Room Outer Loss: 0.9429, Walkable Loss: 2.5852 (Center Penalty: 1.9706, C1 Heatmap: 0.9972, C2 Repulsion: 12.0108), Relational Loss: 0.0143 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.093 0.987 1.013 -0.160 0.003 -2.411 90.00° +table 1.477 0.893 0.817 0.619 -0.001 0.819 -0.02° +tv_stand 1.765 0.420 0.374 -1.340 0.002 -2.352 90.01° +cabinet 0.915 1.218 0.300 -1.728 0.001 3.532 89.97° +cabinet 0.726 0.700 0.237 -1.451 0.002 0.279 89.97° +table 0.422 0.576 0.394 1.166 -0.000 -1.175 -0.03° +bookshelf 1.795 2.365 0.390 0.611 0.001 1.709 -179.90° +sofa 2.276 0.734 0.969 0.710 0.002 -2.867 -90.02° +lamp 1.017 0.812 1.012 -0.117 1.754 -2.199 90.02° +chair 0.545 0.931 0.650 0.162 0.002 1.423 -179.99° +lamp 0.747 0.944 0.748 0.365 1.687 0.384 0.01° +chair 0.536 0.981 0.665 1.210 0.002 1.165 179.73° +chair 0.552 1.014 0.593 0.436 0.002 -0.234 0.06° +chair 0.522 1.076 0.590 0.962 0.002 -0.343 0.05° +floor 3.578 0.003 8.596 -0.046 -0.003 -0.506 -0.03° +_scene_ 0.070 0.001 0.023 -5.670 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.249, 0.420, 0.374] + !! OVERLAP: table <-> sofa depth=[0.814, 0.734, 0.534] + !! OVERLAP: table <-> floor depth=[1.093, 0.003, 1.013] + !! OVERLAP: table <-> chair depth=[0.545, 0.893, 0.129] + !! OVERLAP: table <-> chair depth=[0.415, 0.893, 0.395] + !! OVERLAP: table <-> floor depth=[1.477, 0.003, 0.817] + !! OVERLAP: tv_stand <-> floor depth=[1.378, 0.003, 0.374] + !! OVERLAP: cabinet <-> floor depth=[0.565, 0.003, 0.300] + !! OVERLAP: cabinet <-> floor depth=[0.726, 0.003, 0.237] + !! OVERLAP: table <-> floor depth=[0.422, 0.003, 0.394] + !! OVERLAP: bookshelf <-> chair depth=[0.545, 0.931, 0.233] + !! OVERLAP: bookshelf <-> floor depth=[1.795, 0.003, 0.390] + !! OVERLAP: sofa <-> floor depth=[2.171, 0.003, 0.969] + !! OVERLAP: chair <-> floor depth=[0.545, 0.003, 0.650] + !! OVERLAP: chair <-> floor depth=[0.536, 0.003, 0.665] + !! OVERLAP: chair <-> chair depth=[0.012, 1.014, 0.482] + !! OVERLAP: chair <-> floor depth=[0.552, 0.003, 0.593] + !! OVERLAP: chair <-> floor depth=[0.522, 0.003, 0.590] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17657 | 13 objects +============================================================ +Final Step Collision Loss: 0.0306, Room Outer Loss: 0.8463, Walkable Loss: 2.1657 (Center Penalty: 0.9213, C1 Heatmap: 1.2725, C2 Repulsion: 11.9606), Relational Loss: 0.0170 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.354 0.736 1.043 -0.103 -0.002 -1.214 -90.13° +chair 0.498 0.880 0.552 -0.690 0.001 -2.478 -0.01° +chair 0.562 0.908 0.628 -0.529 -0.001 -1.637 179.80° +chair 0.432 0.882 0.576 0.574 0.002 -2.095 -90.28° +chair 0.524 0.844 0.609 0.421 0.001 -1.521 179.95° +sofa 2.289 0.886 0.920 -1.328 0.002 1.425 89.94° +table 1.261 0.337 0.714 -0.356 -0.001 1.641 90.05° +table 0.986 0.423 0.842 -1.593 0.003 -0.243 90.13° +tv_stand 2.389 0.540 0.486 0.899 -0.001 1.310 -90.19° +lamp 0.822 0.917 0.795 -0.258 1.828 1.465 -0.04° +lamp 0.294 0.796 0.305 0.187 2.185 -2.050 0.00° +floor 3.931 -0.001 6.214 -0.179 -0.001 0.195 0.04° +_scene_ 0.068 0.001 0.022 -5.669 -0.005 -5.719 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.562, 0.736, 0.414] + !! OVERLAP: table <-> chair depth=[0.524, 0.736, 0.519] + !! OVERLAP: table <-> floor depth=[2.354, -0.001, 1.043] + !! OVERLAP: chair <-> floor depth=[0.498, -0.001, 0.552] + !! OVERLAP: chair <-> floor depth=[0.562, -0.001, 0.628] + !! OVERLAP: chair <-> chair depth=[0.324, 0.844, 0.019] + !! OVERLAP: chair <-> floor depth=[0.432, -0.001, 0.576] + !! OVERLAP: chair <-> floor depth=[0.524, -0.001, 0.609] + !! OVERLAP: sofa <-> table depth=[0.803, 0.337, 0.601] + !! OVERLAP: sofa <-> tv_stand depth=[0.113, 0.540, 0.486] + !! OVERLAP: sofa <-> floor depth=[1.961, -0.001, 0.920] + !! OVERLAP: table <-> tv_stand depth=[0.571, 0.337, 0.269] + !! OVERLAP: table <-> floor depth=[1.261, -0.001, 0.714] + !! OVERLAP: table <-> floor depth=[0.986, -0.001, 0.842] + !! OVERLAP: tv_stand <-> floor depth=[2.083, -0.001, 0.486] +============================================================ + + +============================================================ +SCENE: LivingRoom-11224 | 6 objects +============================================================ +Final Step Collision Loss: 0.0376, Room Outer Loss: 0.4016, Walkable Loss: 1.8357 (Center Penalty: 2.8057, C1 Heatmap: 0.6726, C2 Repulsion: 1.6383), Relational Loss: 0.0207 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.098 0.902 0.926 -1.287 0.000 -0.162 90.03° +table 1.659 0.754 0.974 -0.309 0.003 -0.148 -90.07° +tv_stand 1.758 0.423 0.278 1.131 -0.001 0.018 -89.68° +lamp 0.712 0.446 0.711 0.048 2.158 0.098 -0.02° +floor 4.011 -0.003 2.894 -0.057 -0.001 0.004 -0.07° +_scene_ 0.066 -0.000 0.037 -5.660 -0.004 -5.698 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.900, 0.754, 0.926] + !! OVERLAP: sofa <-> floor depth=[1.824, -0.003, 0.926] + !! OVERLAP: table <-> tv_stand depth=[0.269, 0.423, 0.278] + !! OVERLAP: table <-> floor depth=[1.659, -0.003, 0.974] + !! OVERLAP: tv_stand <-> floor depth=[1.697, -0.003, 0.278] +============================================================ + + +============================================================ +SCENE: LivingRoom-13136 | 14 objects +============================================================ +Final Step Collision Loss: 0.0321, Room Outer Loss: 0.4601, Walkable Loss: 1.9741 (Center Penalty: 0.9590, C1 Heatmap: 1.0298, C2 Repulsion: 10.8269), Relational Loss: 0.0137 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.036 0.843 0.760 -1.295 0.001 -1.570 90.00° +table 1.617 0.450 1.095 0.685 0.002 -1.630 90.04° +chair 0.638 0.921 0.699 0.477 0.002 -2.718 0.03° +table 0.552 0.565 0.467 -1.499 0.005 -3.285 90.01° +table 0.716 0.636 0.669 -1.297 0.002 -0.128 90.01° +table 1.893 0.755 1.063 1.043 -0.000 2.646 0.01° +chair 0.565 0.966 0.622 0.012 0.000 2.046 90.00° +chair 0.557 0.958 0.614 -0.116 0.000 2.480 180.00° +chair 0.567 0.934 0.631 1.669 0.003 1.954 -90.02° +chair 0.519 0.951 0.513 1.546 0.002 2.383 -120.64° +bookshelf 1.140 2.110 0.266 -1.395 0.001 0.402 89.95° +lamp 0.914 1.014 0.917 0.876 1.685 2.651 0.02° +floor 4.549 -0.004 8.488 0.284 -0.001 0.005 -0.04° +_scene_ 0.069 0.001 0.024 -5.672 -0.004 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.713, -0.004, 0.760] + !! OVERLAP: table <-> floor depth=[1.617, -0.004, 1.095] + !! OVERLAP: chair <-> floor depth=[0.638, -0.004, 0.699] + !! OVERLAP: table <-> floor depth=[0.552, -0.004, 0.467] + !! OVERLAP: table <-> floor depth=[0.716, -0.004, 0.669] + !! OVERLAP: table <-> chair depth=[0.198, 0.755, 0.243] + !! OVERLAP: table <-> chair depth=[0.066, 0.755, 0.614] + !! OVERLAP: table <-> chair depth=[0.567, 0.755, 0.155] + !! OVERLAP: table <-> chair depth=[0.519, 0.755, 0.513] + !! OVERLAP: table <-> floor depth=[1.893, -0.004, 1.063] + !! OVERLAP: chair <-> chair depth=[0.433, 0.958, 0.183] + !! OVERLAP: chair <-> floor depth=[0.565, -0.004, 0.622] + !! OVERLAP: chair <-> floor depth=[0.557, -0.004, 0.614] + !! OVERLAP: chair <-> chair depth=[0.419, 0.934, 0.143] + !! OVERLAP: chair <-> floor depth=[0.567, -0.004, 0.631] + !! OVERLAP: chair <-> floor depth=[0.519, -0.004, 0.513] + !! OVERLAP: bookshelf <-> floor depth=[1.140, -0.004, 0.266] +============================================================ + + +============================================================ +SCENE: LivingRoom-40975 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8805 (Center Penalty: 1.1030, C1 Heatmap: 0.5022, C2 Repulsion: 1.2810), Relational Loss: 0.0511 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.754 1.231 0.363 -0.073 0.002 2.221 -179.94° +sofa 2.004 0.811 0.985 1.071 0.002 0.418 -0.00° +table 0.945 0.732 1.259 1.759 -0.001 1.631 0.00° +lamp 1.055 0.787 0.776 1.035 2.110 1.010 -0.02° +lamp 0.630 0.902 0.336 -1.198 2.159 -1.669 -89.86° +floor 5.157 -0.001 4.860 0.008 0.001 0.067 0.01° +_scene_ 0.069 0.000 0.027 -5.676 -0.004 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.754, -0.001, 0.363] + !! OVERLAP: sofa <-> floor depth=[2.004, -0.001, 0.985] + !! OVERLAP: table <-> floor depth=[0.945, -0.001, 1.259] +============================================================ + + +============================================================ +SCENE: LivingRoom-6045 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.0352, Walkable Loss: 2.0430 (Center Penalty: 2.7802, C1 Heatmap: 0.8378, C2 Repulsion: 3.1772), Relational Loss: 0.0172 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.136 0.655 0.450 1.385 -0.001 1.071 -90.06° +cabinet 0.506 1.112 0.396 -1.691 0.001 2.038 90.01° +sofa 2.565 0.800 0.897 -1.367 0.003 0.166 90.00° +table 0.883 0.327 0.758 -0.068 0.003 -0.063 -0.01° +chair 0.747 0.780 0.852 -0.103 -0.001 1.877 179.95° +bookshelf 1.332 1.808 0.374 -1.075 -0.005 -1.951 0.27° +lamp 1.193 0.721 0.815 -0.131 2.079 0.355 0.02° +floor 4.152 -0.002 5.359 0.026 0.000 0.198 -0.05° +_scene_ 0.070 0.000 0.022 -5.671 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.785, -0.002, 0.450] + !! OVERLAP: cabinet <-> floor depth=[0.506, -0.002, 0.396] + !! OVERLAP: sofa <-> table depth=[0.424, 0.327, 0.598] + !! OVERLAP: sofa <-> floor depth=[1.965, -0.002, 0.897] + !! OVERLAP: table <-> floor depth=[0.883, -0.002, 0.758] + !! OVERLAP: chair <-> floor depth=[0.747, -0.002, 0.852] + !! OVERLAP: bookshelf <-> floor depth=[1.332, -0.002, 0.374] +============================================================ + + +============================================================ +SCENE: LivingRoom-2050 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5147 (Center Penalty: 1.4361, C1 Heatmap: 1.0012, C2 Repulsion: 3.9617), Relational Loss: 0.0076 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.415 0.729 0.805 0.049 0.001 -1.586 0.03° +chair 0.955 0.897 0.794 2.631 0.004 0.001 -65.04° +table 1.643 0.885 1.018 0.671 0.002 0.238 -0.03° +tv_stand 2.181 0.608 0.466 0.238 0.002 1.363 -179.94° +table 0.513 0.526 0.497 -1.735 0.001 -1.677 -0.02° +table 0.563 0.428 0.578 2.780 0.004 -1.530 -0.01° +lamp 0.594 0.759 0.625 0.955 1.838 0.113 -0.05° +chair 0.702 0.738 0.720 -1.878 0.004 -0.216 46.86° +floor 7.516 -0.006 3.707 -0.231 -0.002 -0.153 0.00° +_scene_ 0.071 0.000 0.019 -5.670 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.415, -0.006, 0.805] + !! OVERLAP: chair <-> floor depth=[0.955, -0.006, 0.794] + !! OVERLAP: table <-> floor depth=[1.643, -0.006, 1.018] + !! OVERLAP: tv_stand <-> floor depth=[2.181, -0.006, 0.466] + !! OVERLAP: table <-> floor depth=[0.513, -0.006, 0.497] + !! OVERLAP: table <-> floor depth=[0.563, -0.006, 0.578] + !! OVERLAP: chair <-> floor depth=[0.702, -0.006, 0.720] +============================================================ + + +============================================================ +SCENE: LivingRoom-12271 | 7 objects +============================================================ +Final Step Collision Loss: 0.0137, Room Outer Loss: 0.0000, Walkable Loss: 1.6060 (Center Penalty: 2.1153, C1 Heatmap: 0.8292, C2 Repulsion: 2.1665), Relational Loss: 0.0617 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.548 0.094 0.526 -0.334 2.546 0.131 -0.14° +table 1.202 0.737 1.296 -0.894 0.001 -1.141 -89.93° +sofa 2.430 1.341 1.424 -1.239 0.006 0.649 89.76° +table 0.731 1.095 0.517 1.825 0.001 1.529 -89.93° +sofa 0.857 0.399 0.999 0.750 -0.002 -0.048 -56.65° +floor 5.337 -0.001 3.842 -0.038 0.000 -0.010 -0.00° +_scene_ 0.074 0.002 0.043 -5.661 -0.004 -5.707 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.202, -0.001, 1.296] + !! OVERLAP: sofa <-> floor depth=[2.430, -0.001, 1.424] + !! OVERLAP: table <-> floor depth=[0.731, -0.001, 0.517] + !! OVERLAP: sofa <-> floor depth=[0.857, -0.001, 0.999] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-52564 | 10 objects +============================================================ +Final Step Collision Loss: 0.0252, Room Outer Loss: 0.0000, Walkable Loss: 0.9846 (Center Penalty: 0.8489, C1 Heatmap: 0.6743, C2 Repulsion: 2.9044), Relational Loss: 0.0131 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.931 0.637 0.429 -1.520 0.004 -1.796 90.00° +table 0.816 0.363 0.505 1.959 0.004 -1.855 0.07° +table 1.193 1.367 0.427 -2.933 0.002 0.207 89.95° +table 0.727 0.685 0.631 -0.971 0.001 -0.256 -0.06° +table 0.591 0.685 0.508 -1.119 -0.001 -2.565 -0.07° +sofa 2.538 0.936 0.927 1.705 0.004 -1.497 -89.84° +lamp 0.973 1.260 0.910 0.757 1.550 1.646 0.03° +lamp 0.453 0.752 0.471 0.370 2.065 -1.889 -0.10° +floor 6.421 0.002 5.916 -0.231 0.000 -0.313 -0.01° +_scene_ 0.109 -0.004 0.133 -5.602 -0.003 -5.643 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.931, 0.002, 0.429] + !! OVERLAP: table <-> sofa depth=[0.816, 0.363, 0.358] + !! OVERLAP: table <-> floor depth=[0.816, 0.002, 0.505] + !! OVERLAP: table <-> floor depth=[1.105, 0.002, 0.427] + !! OVERLAP: table <-> floor depth=[0.727, 0.002, 0.631] + !! OVERLAP: table <-> floor depth=[0.591, 0.002, 0.508] + !! OVERLAP: sofa <-> floor depth=[2.538, 0.002, 0.927] +============================================================ + + +============================================================ +SCENE: LivingRoom-423 | 21 objects +============================================================ +Final Step Collision Loss: 0.0042, Room Outer Loss: 0.6453, Walkable Loss: 2.7403 (Center Penalty: 1.0527, C1 Heatmap: 1.2550, C2 Repulsion: 17.1194), Relational Loss: 0.0043 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.619 2.552 0.294 1.718 0.000 2.856 -90.06° +table 2.113 0.775 0.966 -0.968 0.002 1.504 0.10° +chair 0.585 0.791 0.615 -1.122 0.001 0.808 -0.01° +chair 0.582 0.834 0.567 -0.280 -0.000 0.750 0.03° +chair 0.464 0.840 0.516 -0.913 0.001 2.862 179.84° +chair 0.538 0.794 0.575 -0.014 0.001 2.732 -179.99° +chair 0.435 0.750 0.491 0.512 0.001 2.085 -90.17° +chair 0.534 0.819 0.546 -1.877 0.001 1.732 89.99° +sofa 2.033 1.012 0.941 -1.448 -0.001 -2.411 89.96° +sofa 1.225 0.823 0.926 -0.139 0.003 -4.336 0.03° +chair 1.041 0.963 1.028 -0.343 0.001 -1.043 -165.42° +table 1.265 0.637 0.889 -0.400 0.002 -2.303 89.81° +table 0.568 0.419 0.524 -1.783 0.003 -0.591 90.07° +table 0.443 0.309 0.542 -1.421 -0.002 -4.280 -0.04° +cabinet 2.247 2.155 0.457 -1.101 0.001 3.527 179.92° +tv_stand 1.653 0.601 0.328 1.476 -0.002 -2.210 -89.91° +lamp 0.876 0.720 0.867 -0.127 2.026 -2.454 -0.04° +lamp 0.792 0.914 0.779 -0.108 1.653 2.565 0.03° +lamp 0.438 1.383 0.401 0.933 1.333 3.898 0.43° +floor 4.765 -0.004 9.291 -0.227 0.001 -0.109 -0.11° +_scene_ 0.075 0.001 0.019 -5.664 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.247, -0.004, 0.294] + !! OVERLAP: table <-> chair depth=[0.585, 0.775, 0.094] + !! OVERLAP: table <-> chair depth=[0.582, 0.775, 0.012] + !! OVERLAP: table <-> chair depth=[0.415, 0.775, 0.528] + !! OVERLAP: table <-> floor depth=[2.113, -0.004, 0.966] + !! OVERLAP: chair <-> floor depth=[0.585, -0.004, 0.615] + !! OVERLAP: chair <-> floor depth=[0.582, -0.004, 0.567] + !! OVERLAP: chair <-> floor depth=[0.464, -0.004, 0.516] + !! OVERLAP: chair <-> floor depth=[0.538, -0.004, 0.575] + !! OVERLAP: chair <-> floor depth=[0.435, -0.004, 0.491] + !! OVERLAP: chair <-> floor depth=[0.534, -0.004, 0.546] + !! OVERLAP: sofa <-> table depth=[0.601, 0.637, 0.808] + !! OVERLAP: sofa <-> floor depth=[2.033, -0.004, 0.941] + !! OVERLAP: sofa <-> floor depth=[1.225, -0.004, 0.882] + !! OVERLAP: chair <-> floor depth=[1.041, -0.004, 1.028] + !! OVERLAP: table <-> floor depth=[1.265, -0.004, 0.889] + !! OVERLAP: table <-> floor depth=[0.568, -0.004, 0.524] + !! OVERLAP: table <-> floor depth=[0.443, -0.004, 0.542] + !! OVERLAP: cabinet <-> floor depth=[2.247, -0.004, 0.457] + !! OVERLAP: tv_stand <-> floor depth=[1.506, -0.004, 0.328] +============================================================ + + +============================================================ +SCENE: LivingRoom-34874 | 6 objects +============================================================ +Final Step Collision Loss: 0.3423, Room Outer Loss: 0.1161, Walkable Loss: 1.3618 (Center Penalty: 1.4396, C1 Heatmap: 1.1369, C2 Repulsion: 1.8723), Relational Loss: 0.0204 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.686 0.827 1.632 -0.467 -0.000 1.170 179.93° +lamp 0.628 0.498 0.646 -0.617 2.118 0.463 -0.05° +table 1.664 0.523 1.094 -0.786 0.001 0.445 0.03° +tv_stand 2.426 0.675 0.491 -0.817 -0.000 -1.580 0.01° +floor 4.694 -0.003 3.649 -0.053 0.000 0.163 -0.03° +_scene_ 0.059 0.001 0.022 -5.670 -0.004 -5.705 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.664, 0.523, 0.638] + !! OVERLAP: sofa <-> floor depth=[3.686, -0.003, 1.632] + !! OVERLAP: table <-> floor depth=[1.664, -0.003, 1.094] + !! OVERLAP: tv_stand <-> floor depth=[2.426, -0.003, 0.328] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9632 | 14 objects +============================================================ +Final Step Collision Loss: 0.0123, Room Outer Loss: 0.0000, Walkable Loss: 1.8029 (Center Penalty: 0.9558, C1 Heatmap: 1.0995, C2 Repulsion: 8.8520), Relational Loss: 0.0245 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.651 0.722 0.639 -0.792 1.846 -1.915 -0.04° +sofa 2.301 0.879 0.840 -1.851 0.001 1.722 89.96° +table 1.484 0.665 1.274 -0.621 -0.001 1.889 -90.10° +tv_stand 1.967 0.451 0.449 1.433 -0.000 1.953 -90.02° +chair 0.857 0.835 0.810 -1.884 0.002 0.240 89.92° +chair 0.894 0.950 0.939 -1.308 0.001 -0.641 179.89° +cabinet 0.569 0.940 0.397 1.395 0.001 0.398 -89.95° +table 1.609 0.742 1.181 -0.207 0.003 -2.426 -90.22° +chair 0.470 0.497 0.469 0.628 0.000 -0.246 0.03° +chair 0.435 0.477 0.470 -0.270 0.001 1.731 -0.02° +chair 0.450 0.416 0.412 -0.467 -0.000 2.522 179.97° +lamp 0.747 0.656 0.692 -0.476 2.088 1.284 -0.02° +floor 6.236 -0.005 6.674 -0.604 0.002 0.247 -0.03° +_scene_ 0.071 0.000 0.021 -5.673 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.663, 0.665, 0.840] + !! OVERLAP: sofa <-> floor depth=[2.301, -0.005, 0.840] + !! OVERLAP: table <-> chair depth=[0.435, 0.477, 0.470] + !! OVERLAP: table <-> chair depth=[0.450, 0.416, 0.210] + !! OVERLAP: table <-> floor depth=[1.484, -0.005, 1.274] + !! OVERLAP: tv_stand <-> floor depth=[1.967, -0.005, 0.449] + !! OVERLAP: chair <-> floor depth=[0.857, -0.005, 0.810] + !! OVERLAP: chair <-> floor depth=[0.894, -0.005, 0.939] + !! OVERLAP: cabinet <-> floor depth=[0.569, -0.005, 0.397] + !! OVERLAP: table <-> floor depth=[1.609, -0.005, 1.181] + !! OVERLAP: chair <-> floor depth=[0.470, -0.005, 0.469] + !! OVERLAP: chair <-> floor depth=[0.435, -0.005, 0.470] + !! OVERLAP: chair <-> floor depth=[0.450, -0.005, 0.412] +============================================================ + + +============================================================ +SCENE: LivingRoom-860 | 10 objects +============================================================ +Final Step Collision Loss: 0.0728, Room Outer Loss: 1.4623, Walkable Loss: 1.8530 (Center Penalty: 1.5654, C1 Heatmap: 1.0749, C2 Repulsion: 6.4035), Relational Loss: 0.0080 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.866 0.712 1.424 0.685 -0.000 -0.538 -0.02° +chair 0.489 0.858 0.542 0.353 0.000 2.165 -179.87° +chair 0.464 0.836 0.462 0.230 -0.001 1.470 -179.93° +table 1.185 0.482 0.731 0.809 -0.002 1.859 -179.99° +sofa 1.967 0.826 0.880 1.379 0.001 -0.421 -89.83° +tv_stand 2.103 1.015 0.481 -1.402 -0.000 -0.812 89.98° +cabinet 0.746 1.214 0.347 0.656 0.001 -2.193 -0.00° +lamp 0.950 1.130 0.936 0.712 1.584 -0.237 -0.03° +floor 3.251 -0.003 5.648 -0.043 0.001 -0.078 0.01° +_scene_ 0.073 0.001 0.025 -5.667 -0.005 -5.709 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.222, 0.712, 0.880] + !! OVERLAP: table <-> floor depth=[1.831, -0.003, 1.424] + !! OVERLAP: chair <-> table depth=[0.380, 0.482, 0.330] + !! OVERLAP: chair <-> floor depth=[0.489, -0.003, 0.542] + !! OVERLAP: chair <-> table depth=[0.245, 0.482, 0.207] + !! OVERLAP: chair <-> floor depth=[0.464, -0.003, 0.462] + !! OVERLAP: table <-> floor depth=[1.185, -0.003, 0.731] + !! OVERLAP: sofa <-> floor depth=[1.187, -0.003, 0.880] + !! OVERLAP: tv_stand <-> floor depth=[1.318, -0.003, 0.481] + !! OVERLAP: cabinet <-> floor depth=[0.746, -0.003, 0.347] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-8304 | 18 objects +============================================================ +Final Step Collision Loss: 0.0161, Room Outer Loss: 0.0000, Walkable Loss: 2.2716 (Center Penalty: 0.4032, C1 Heatmap: 0.9906, C2 Repulsion: 16.7371), Relational Loss: 0.0094 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 1.026 1.163 1.042 -0.804 0.002 4.108 179.82° +sofa 2.464 0.869 1.085 -1.996 -0.002 2.226 90.00° +chair 0.920 0.818 1.019 -0.616 0.006 1.862 50.54° +table 0.925 0.375 1.027 -0.698 0.002 2.484 -0.01° +tv_stand 1.779 0.941 0.450 0.578 0.001 2.599 -90.01° +table 0.541 0.584 0.485 -1.988 -0.000 0.526 0.02° +table 0.557 0.451 0.561 -1.986 -0.002 3.684 0.06° +cabinet 1.059 2.402 0.549 -1.971 -0.002 -1.074 0.15° +chair 0.661 1.035 0.713 1.599 0.001 -2.354 -89.87° +table 1.863 0.751 0.906 1.235 0.001 -2.955 90.02° +chair 0.598 1.020 0.672 1.773 -0.001 -3.182 -90.25° +chair 0.568 1.009 0.604 0.213 0.001 -2.691 90.11° +chair 0.606 1.008 0.619 0.207 0.004 -3.237 90.10° +bookshelf 1.331 2.040 0.480 -0.667 0.005 -3.243 -179.60° +lamp 0.657 0.633 0.652 -0.543 2.062 2.519 -0.02° +lamp 0.517 0.949 0.470 1.359 2.017 -3.110 -0.05° +floor 5.564 -0.003 9.533 -0.601 -0.000 0.359 -0.15° +_scene_ 0.073 -0.001 0.026 -5.670 -0.003 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[1.026, -0.003, 1.042] + !! OVERLAP: sofa <-> chair depth=[0.312, 0.818, 0.688] + !! OVERLAP: sofa <-> table depth=[0.397, 0.375, 0.798] + !! OVERLAP: sofa <-> floor depth=[2.464, -0.003, 1.085] + !! OVERLAP: chair <-> table depth=[0.840, 0.375, 0.400] + !! OVERLAP: chair <-> floor depth=[0.920, -0.003, 1.019] + !! OVERLAP: table <-> tv_stand depth=[0.076, 0.375, 0.450] + !! OVERLAP: table <-> floor depth=[0.925, -0.003, 1.027] + !! OVERLAP: tv_stand <-> floor depth=[1.779, -0.003, 0.450] + !! OVERLAP: table <-> floor depth=[0.541, -0.003, 0.485] + !! OVERLAP: table <-> floor depth=[0.557, -0.003, 0.561] + !! OVERLAP: cabinet <-> floor depth=[1.059, -0.003, 0.549] + !! OVERLAP: chair <-> table depth=[0.661, 0.751, 0.208] + !! OVERLAP: chair <-> floor depth=[0.661, -0.003, 0.713] + !! OVERLAP: table <-> chair depth=[0.598, 0.751, 0.562] + !! OVERLAP: table <-> chair depth=[0.193, 0.751, 0.491] + !! OVERLAP: table <-> chair depth=[0.206, 0.751, 0.481] + !! OVERLAP: table <-> floor depth=[1.863, -0.003, 0.906] + !! OVERLAP: chair <-> floor depth=[0.598, -0.003, 0.672] + !! OVERLAP: chair <-> chair depth=[0.568, 1.006, 0.065] + !! OVERLAP: chair <-> floor depth=[0.568, -0.003, 0.604] + !! OVERLAP: chair <-> bookshelf depth=[0.094, 1.008, 0.480] + !! OVERLAP: chair <-> floor depth=[0.606, -0.003, 0.619] + !! OVERLAP: bookshelf <-> floor depth=[1.331, -0.003, 0.480] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13962 | 14 objects +============================================================ +Final Step Collision Loss: 0.0068, Room Outer Loss: 0.4075, Walkable Loss: 2.0840 (Center Penalty: 1.3697, C1 Heatmap: 1.0206, C2 Repulsion: 9.9084), Relational Loss: 0.0164 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.576 1.408 0.592 -0.162 1.514 0.566 -0.03° +tv_stand 2.079 0.444 0.438 1.085 0.001 1.443 -89.95° +table 0.474 0.286 0.456 -0.124 -0.000 1.082 -90.00° +table 0.470 0.437 0.427 -1.471 0.001 2.407 0.07° +table 0.524 0.540 0.515 -1.657 0.001 -0.647 0.04° +sofa 2.268 0.937 0.941 -1.488 0.002 1.050 89.93° +chair 0.806 0.731 0.773 -0.384 -0.001 2.313 -180.00° +chair 0.567 0.714 0.625 -0.294 0.001 -2.515 89.91° +chair 0.587 0.779 0.592 -0.296 0.001 -2.180 90.01° +chair 0.617 0.760 0.668 1.435 0.002 -2.348 -90.15° +chair 0.566 0.749 0.628 1.243 0.002 -1.997 -90.01° +table 1.815 0.727 0.776 0.454 -0.000 -2.010 -89.91° +floor 4.348 -0.001 6.816 -0.109 -0.000 0.288 -0.05° +_scene_ 0.077 0.000 0.022 -5.671 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.068, 0.286, 0.086] + !! OVERLAP: tv_stand <-> floor depth=[2.020, -0.001, 0.438] + !! OVERLAP: table <-> sofa depth=[0.006, 0.286, 0.456] + !! OVERLAP: table <-> floor depth=[0.474, -0.001, 0.456] + !! OVERLAP: table <-> floor depth=[0.470, -0.001, 0.427] + !! OVERLAP: table <-> floor depth=[0.524, -0.001, 0.515] + !! OVERLAP: sofa <-> floor depth=[1.928, -0.001, 0.941] + !! OVERLAP: chair <-> floor depth=[0.806, -0.001, 0.773] + !! OVERLAP: chair <-> chair depth=[0.567, 0.714, 0.273] + !! OVERLAP: chair <-> table depth=[0.443, 0.714, 0.195] + !! OVERLAP: chair <-> floor depth=[0.567, -0.001, 0.625] + !! OVERLAP: chair <-> table depth=[0.451, 0.727, 0.514] + !! OVERLAP: chair <-> floor depth=[0.587, -0.001, 0.592] + !! OVERLAP: chair <-> chair depth=[0.399, 0.749, 0.297] + !! OVERLAP: chair <-> table depth=[0.236, 0.727, 0.384] + !! OVERLAP: chair <-> floor depth=[0.617, -0.001, 0.668] + !! OVERLAP: chair <-> table depth=[0.402, 0.727, 0.628] + !! OVERLAP: chair <-> floor depth=[0.566, -0.001, 0.628] + !! OVERLAP: table <-> floor depth=[1.815, -0.001, 0.776] +============================================================ + + +============================================================ +SCENE: LivingRoom-41893 | 11 objects +============================================================ +Final Step Collision Loss: 0.0471, Room Outer Loss: 0.0000, Walkable Loss: 2.1602 (Center Penalty: 1.5216, C1 Heatmap: 1.1078, C2 Repulsion: 9.5626), Relational Loss: 0.0402 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.231 0.735 0.946 1.312 0.001 0.704 179.92° +chair 0.637 0.782 0.661 2.202 0.005 -0.154 -101.94° +table 0.786 0.543 0.898 0.089 0.000 0.882 -179.98° +chair 0.490 1.026 0.622 -1.393 -0.000 0.034 -90.05° +chair 0.610 0.977 0.701 -2.078 0.003 -0.307 89.70° +table 2.141 0.814 1.097 -0.922 0.001 0.194 89.96° +table 1.217 0.486 1.242 1.599 0.001 -0.668 -0.03° +lamp 0.529 0.908 0.533 1.539 1.619 -0.716 -0.00° +lamp 0.273 0.957 0.272 -1.129 1.653 0.528 -0.02° +floor 6.221 -0.001 3.054 0.113 0.000 -0.127 0.00° +_scene_ 0.073 0.001 0.024 -5.670 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.286, 0.543, 0.744] + !! OVERLAP: sofa <-> floor depth=[2.231, -0.001, 0.946] + !! OVERLAP: chair <-> table depth=[0.324, 0.486, 0.438] + !! OVERLAP: chair <-> floor depth=[0.637, -0.001, 0.661] + !! OVERLAP: table <-> table depth=[0.453, 0.543, 0.310] + !! OVERLAP: table <-> floor depth=[0.786, -0.001, 0.898] + !! OVERLAP: chair <-> table depth=[0.490, 0.814, 0.622] + !! OVERLAP: chair <-> floor depth=[0.490, -0.001, 0.622] + !! OVERLAP: chair <-> table depth=[0.219, 0.814, 0.397] + !! OVERLAP: chair <-> floor depth=[0.610, -0.001, 0.701] + !! OVERLAP: table <-> floor depth=[2.141, -0.001, 1.097] + !! OVERLAP: table <-> floor depth=[1.217, -0.001, 1.242] +============================================================ + + +============================================================ +SCENE: LivingRoom-18042 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0460, Walkable Loss: 1.0952 (Center Penalty: 1.4985, C1 Heatmap: 0.6489, C2 Repulsion: 0.8637), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.231 0.787 0.910 0.667 0.000 -1.385 -0.04° +table 1.153 0.420 1.205 0.665 0.000 0.604 0.02° +lamp 0.817 0.838 0.803 0.869 1.900 0.029 0.03° +table 1.575 1.199 0.498 -1.616 0.001 0.589 89.96° +floor 4.558 -0.003 4.999 0.019 0.001 -0.083 -0.11° +_scene_ 0.074 0.006 0.092 -5.619 -0.004 -5.696 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.231, -0.003, 0.910] + !! OVERLAP: table <-> floor depth=[1.153, -0.003, 1.205] + !! OVERLAP: table <-> floor depth=[1.431, -0.003, 0.498] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-26816 | 17 objects +============================================================ +Final Step Collision Loss: 0.0103, Room Outer Loss: 0.8819, Walkable Loss: 2.7221 (Center Penalty: 2.1106, C1 Heatmap: 1.0143, C2 Repulsion: 12.6103), Relational Loss: 0.0144 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.257 0.931 1.030 1.315 -0.001 -0.814 -90.04° +table 1.143 0.441 1.034 -0.065 0.002 -0.448 0.01° +table 0.593 0.675 0.697 1.523 0.001 -2.944 -89.99° +table 0.553 0.634 0.560 1.480 0.005 0.548 -90.20° +chair 0.991 0.685 0.891 -0.046 -0.001 0.889 -179.94° +chair 0.976 0.325 0.490 -0.077 0.002 -2.337 -0.03° +table 1.698 0.750 0.832 -0.169 0.004 2.874 179.77° +chair 0.486 0.823 0.581 0.617 0.004 3.021 -90.30° +chair 0.517 0.845 0.550 0.415 0.002 2.271 -102.50° +chair 0.521 0.913 0.546 -0.261 0.001 3.207 179.78° +chair 0.535 0.857 0.585 -0.522 0.001 2.147 89.99° +lamp 0.279 0.704 0.108 0.291 1.784 2.743 0.07° +lamp 0.603 0.980 0.631 -0.191 1.847 -0.968 -0.03° +bookshelf 1.133 2.585 0.373 1.141 -0.002 -3.667 0.03° +bookshelf 2.185 2.362 0.171 -0.471 0.005 -3.852 -0.01° +floor 3.671 0.001 7.621 -0.006 0.001 -0.166 -0.01° +_scene_ 0.072 0.001 0.020 -5.667 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.319, 0.441, 0.666] + !! OVERLAP: sofa <-> floor depth=[1.642, 0.001, 1.030] + !! OVERLAP: table <-> floor depth=[1.143, 0.001, 1.034] + !! OVERLAP: table <-> floor depth=[0.593, 0.001, 0.697] + !! OVERLAP: table <-> floor depth=[0.553, 0.001, 0.560] + !! OVERLAP: chair <-> floor depth=[0.991, 0.001, 0.891] + !! OVERLAP: chair <-> floor depth=[0.976, 0.001, 0.490] + !! OVERLAP: table <-> chair depth=[0.305, 0.750, 0.559] + !! OVERLAP: table <-> chair depth=[0.517, 0.750, 0.088] + !! OVERLAP: table <-> chair depth=[0.521, 0.750, 0.356] + !! OVERLAP: table <-> floor depth=[1.698, 0.001, 0.832] + !! OVERLAP: chair <-> floor depth=[0.486, 0.001, 0.581] + !! OVERLAP: chair <-> floor depth=[0.517, 0.001, 0.550] + !! OVERLAP: chair <-> floor depth=[0.521, 0.001, 0.546] + !! OVERLAP: chair <-> floor depth=[0.535, 0.001, 0.585] + !! OVERLAP: bookshelf <-> bookshelf depth=[0.047, 2.362, 0.086] + !! OVERLAP: bookshelf <-> floor depth=[1.133, 0.001, 0.373] + !! OVERLAP: bookshelf <-> floor depth=[2.185, 0.001, 0.171] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17385 | 12 objects +============================================================ +Final Step Collision Loss: 0.0190, Room Outer Loss: 0.0013, Walkable Loss: 2.0064 (Center Penalty: 1.2478, C1 Heatmap: 1.1600, C2 Repulsion: 9.1843), Relational Loss: 0.0192 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.252 0.884 0.850 1.465 0.000 1.156 179.91° +table 1.169 0.436 1.345 1.489 0.004 0.117 179.98° +tv_stand 2.171 0.982 0.489 1.410 -0.002 -1.394 0.00° +table 2.233 0.724 0.949 -1.382 0.002 0.622 90.03° +chair 0.537 1.097 0.583 -0.576 0.001 1.417 -89.87° +chair 0.510 1.060 0.546 -0.742 0.001 0.685 -90.00° +chair 0.587 1.131 0.593 -2.062 0.000 1.235 89.91° +chair 0.500 1.073 0.529 -1.915 0.001 0.820 89.96° +lamp 0.737 0.955 0.764 1.289 1.645 0.196 0.03° +lamp 0.372 0.864 0.348 -1.141 2.411 0.156 -0.01° +floor 5.161 0.001 3.529 0.181 0.002 0.132 -0.01° +_scene_ 0.075 0.000 0.022 -5.669 -0.002 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.169, 0.436, 0.059] + !! OVERLAP: sofa <-> floor depth=[2.252, 0.001, 0.850] + !! OVERLAP: table <-> floor depth=[1.169, 0.001, 1.345] + !! OVERLAP: tv_stand <-> floor depth=[2.171, 0.001, 0.482] + !! OVERLAP: table <-> chair depth=[0.510, 0.724, 0.546] + !! OVERLAP: table <-> chair depth=[0.587, 0.724, 0.158] + !! OVERLAP: table <-> chair depth=[0.500, 0.724, 0.529] + !! OVERLAP: table <-> floor depth=[2.134, 0.001, 0.949] + !! OVERLAP: chair <-> floor depth=[0.537, 0.001, 0.583] + !! OVERLAP: chair <-> floor depth=[0.510, 0.001, 0.546] + !! OVERLAP: chair <-> chair depth=[0.396, 1.073, 0.146] + !! OVERLAP: chair <-> floor depth=[0.587, 0.001, 0.593] + !! OVERLAP: chair <-> floor depth=[0.500, 0.001, 0.529] +============================================================ + + +============================================================ +SCENE: LivingRoom-31397 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.4878, Walkable Loss: 1.7464 (Center Penalty: 2.3920, C1 Heatmap: 0.7364, C2 Repulsion: 2.5581), Relational Loss: 0.0136 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.932 0.576 0.502 1.583 0.000 1.184 -90.16° +table 0.588 1.065 0.370 -1.273 0.002 1.822 90.00° +sofa 2.104 0.820 0.948 -1.306 -0.002 0.185 89.98° +table 0.902 0.324 0.679 0.321 -0.001 0.430 90.04° +chair 0.777 0.754 0.882 -0.202 -0.001 2.190 -179.94° +bookshelf 1.094 1.732 0.396 -1.182 0.001 -2.035 89.89° +lamp 0.610 0.930 0.606 0.073 2.283 0.343 -0.00° +floor 3.831 0.000 6.907 0.042 0.000 -0.049 -0.04° +_scene_ 0.072 0.001 0.023 -5.670 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.341, 0.000, 0.502] + !! OVERLAP: table <-> floor depth=[0.588, 0.000, 0.370] + !! OVERLAP: sofa <-> floor depth=[1.620, 0.000, 0.948] + !! OVERLAP: table <-> floor depth=[0.902, 0.000, 0.679] + !! OVERLAP: chair <-> floor depth=[0.777, 0.000, 0.882] + !! OVERLAP: bookshelf <-> floor depth=[1.094, 0.000, 0.396] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-14432 | 17 objects +============================================================ +Final Step Collision Loss: 0.0483, Room Outer Loss: 0.2403, Walkable Loss: 2.7756 (Center Penalty: 1.1212, C1 Heatmap: 1.3900, C2 Repulsion: 16.5904), Relational Loss: 0.0178 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.725 0.951 0.591 2.630 0.007 -2.273 0.00° +shelf 0.421 1.733 0.349 2.787 -0.004 -1.240 0.09° +table 1.845 0.724 1.239 1.682 0.001 1.738 0.03° +table 1.317 0.689 1.289 1.296 0.001 1.564 -0.10° +chair 0.580 1.086 0.644 2.504 0.002 1.738 -90.10° +chair 0.539 1.090 0.612 0.779 -0.001 2.141 89.54° +chair 0.588 1.126 0.608 1.842 0.000 0.890 -0.04° +chair 0.588 1.101 0.673 1.073 -0.001 0.796 90.04° +table 0.518 0.597 0.537 -0.139 0.000 -0.988 0.00° +sofa 2.519 0.811 1.132 -1.611 0.001 -1.333 89.98° +table 1.160 0.438 0.927 -1.436 -0.001 -0.084 0.00° +tv_stand 2.087 0.470 0.416 -1.438 -0.001 2.821 179.96° +lamp 0.444 0.747 0.458 1.367 1.985 -1.108 -0.05° +lamp 0.157 1.130 0.164 1.297 1.391 2.005 0.03° +lamp 0.238 0.776 0.223 -1.941 1.880 0.324 0.05° +floor 6.325 -0.003 5.652 0.187 0.001 0.276 -0.01° +_scene_ 0.069 0.001 0.023 -5.671 -0.005 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.582, -0.003, 0.573] + !! OVERLAP: shelf <-> floor depth=[0.421, -0.003, 0.349] + !! OVERLAP: table <-> table depth=[1.194, 0.689, 1.090] + !! OVERLAP: table <-> chair depth=[0.391, 0.724, 0.644] + !! OVERLAP: table <-> chair depth=[0.289, 0.724, 0.522] + !! OVERLAP: table <-> chair depth=[0.588, 0.724, 0.076] + !! OVERLAP: table <-> chair depth=[0.588, 0.724, 0.014] + !! OVERLAP: table <-> floor depth=[1.845, -0.003, 1.239] + !! OVERLAP: table <-> chair depth=[0.411, 0.689, 0.373] + !! OVERLAP: table <-> chair depth=[0.406, 0.689, 0.275] + !! OVERLAP: table <-> chair depth=[0.588, 0.689, 0.213] + !! OVERLAP: table <-> floor depth=[1.317, -0.003, 1.289] + !! OVERLAP: chair <-> floor depth=[0.580, -0.003, 0.644] + !! OVERLAP: chair <-> floor depth=[0.539, -0.003, 0.612] + !! OVERLAP: chair <-> floor depth=[0.588, -0.003, 0.608] + !! OVERLAP: chair <-> floor depth=[0.588, -0.003, 0.673] + !! OVERLAP: table <-> sofa depth=[0.047, 0.597, 0.490] + !! OVERLAP: table <-> floor depth=[0.518, -0.003, 0.537] + !! OVERLAP: sofa <-> floor depth=[2.519, -0.003, 1.132] + !! OVERLAP: table <-> floor depth=[1.160, -0.003, 0.927] + !! OVERLAP: tv_stand <-> floor depth=[2.087, -0.003, 0.416] +============================================================ + + +============================================================ +SCENE: LivingRoom-5361 | 12 objects +============================================================ +Final Step Collision Loss: 0.0875, Room Outer Loss: 0.0000, Walkable Loss: 2.5648 (Center Penalty: 1.4702, C1 Heatmap: 1.2009, C2 Repulsion: 13.4936), Relational Loss: 0.0332 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.146 0.821 0.907 1.235 0.002 1.201 179.95° +chair 0.969 0.755 0.982 1.864 0.002 0.531 171.57° +table 1.178 0.466 1.168 0.810 0.000 -0.778 -0.05° +table 1.155 0.353 1.204 0.874 -0.001 0.135 -0.02° +bookshelf 0.868 1.901 0.231 1.868 0.002 1.361 -90.09° +table 1.423 0.741 1.242 -1.279 0.000 1.071 89.97° +chair 0.536 0.789 0.567 -1.568 0.002 0.244 0.02° +chair 0.541 0.789 0.634 -0.874 0.002 1.293 -90.22° +chair 0.528 0.753 0.625 -1.599 -0.001 1.480 179.94° +lamp 0.556 0.698 0.536 0.801 1.854 -0.109 -0.02° +floor 5.967 0.000 4.146 0.204 0.001 -0.076 -0.01° +_scene_ 0.069 0.001 0.021 -5.672 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.928, 0.755, 0.274] + !! OVERLAP: sofa <-> bookshelf depth=[0.868, 0.821, 0.231] + !! OVERLAP: sofa <-> floor depth=[2.146, 0.000, 0.907] + !! OVERLAP: chair <-> table depth=[0.072, 0.353, 0.697] + !! OVERLAP: chair <-> floor depth=[0.969, 0.000, 0.982] + !! OVERLAP: table <-> table depth=[1.102, 0.353, 0.273] + !! OVERLAP: table <-> floor depth=[1.178, 0.000, 1.168] + !! OVERLAP: table <-> floor depth=[1.155, 0.000, 1.204] + !! OVERLAP: bookshelf <-> floor depth=[0.868, 0.000, 0.231] + !! OVERLAP: table <-> chair depth=[0.536, 0.741, 0.078] + !! OVERLAP: table <-> chair depth=[0.541, 0.741, 0.634] + !! OVERLAP: table <-> chair depth=[0.528, 0.741, 0.524] + !! OVERLAP: table <-> floor depth=[1.423, 0.000, 1.242] + !! OVERLAP: chair <-> floor depth=[0.536, 0.000, 0.567] + !! OVERLAP: chair <-> floor depth=[0.541, 0.000, 0.634] + !! OVERLAP: chair <-> floor depth=[0.528, 0.000, 0.625] +============================================================ + + +============================================================ +SCENE: LivingRoom-5655 | 11 objects +============================================================ +Final Step Collision Loss: 0.0552, Room Outer Loss: 0.8178, Walkable Loss: 1.9026 (Center Penalty: 1.1516, C1 Heatmap: 1.1599, C2 Repulsion: 8.6282), Relational Loss: 0.0381 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.164 0.557 0.465 1.042 -0.000 1.365 -89.99° +sofa 2.284 0.883 1.009 -1.106 0.012 1.368 90.13° +table 1.292 0.474 1.199 -0.269 0.001 1.071 90.08° +lamp 0.488 0.676 0.480 -0.176 1.980 1.083 -0.00° +table 1.773 0.709 1.268 -0.755 -0.000 -1.885 0.02° +chair 0.528 0.796 0.536 -1.407 0.001 -2.275 0.00° +chair 0.515 0.833 0.591 -0.361 -0.000 -2.262 -90.09° +chair 0.615 0.841 0.618 -1.441 0.001 -1.076 179.91° +chair 0.616 0.829 0.633 -0.677 -0.000 -0.983 179.86° +floor 3.680 0.000 5.319 -0.124 0.002 -0.006 0.01° +_scene_ 0.072 0.002 0.026 -5.665 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> sofa depth=[0.077, 0.557, 0.465] + !! OVERLAP: tv_stand <-> table depth=[0.418, 0.474, 0.465] + !! OVERLAP: tv_stand <-> floor depth=[1.756, 0.000, 0.465] + !! OVERLAP: sofa <-> table depth=[0.951, 0.474, 0.808] + !! OVERLAP: sofa <-> floor depth=[2.001, 0.000, 1.009] + !! OVERLAP: table <-> floor depth=[1.292, 0.000, 1.199] + !! OVERLAP: table <-> chair depth=[0.498, 0.709, 0.512] + !! OVERLAP: table <-> chair depth=[0.515, 0.709, 0.553] + !! OVERLAP: table <-> chair depth=[0.507, 0.709, 0.134] + !! OVERLAP: table <-> chair depth=[0.616, 0.709, 0.049] + !! OVERLAP: table <-> floor depth=[1.773, 0.000, 1.268] + !! OVERLAP: chair <-> floor depth=[0.528, 0.000, 0.536] + !! OVERLAP: chair <-> floor depth=[0.515, 0.000, 0.591] + !! OVERLAP: chair <-> floor depth=[0.615, 0.000, 0.618] + !! OVERLAP: chair <-> floor depth=[0.616, 0.000, 0.633] +============================================================ + + +============================================================ +SCENE: LivingRoom-55 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0265 (Center Penalty: 2.6563, C1 Heatmap: 0.9543, C2 Repulsion: 3.1668), Relational Loss: 0.0003 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.463 0.828 0.859 -0.134 0.000 1.689 179.84° +table 0.614 0.615 0.559 1.875 0.001 1.569 179.98° +table 0.587 0.743 0.609 -2.087 0.000 1.673 179.97° +chair 0.790 0.834 0.809 1.884 -0.003 0.047 -49.01° +table 1.508 1.199 0.894 -0.271 0.008 0.204 -179.96° +tv_stand 2.142 0.341 0.437 -0.064 0.001 -1.742 -0.00° +lamp 1.273 0.980 1.091 -0.140 1.839 -0.106 0.02° +chair 0.587 0.781 0.610 -2.102 0.002 -0.007 14.22° +floor 6.488 -0.004 4.218 -0.109 0.001 0.029 -0.01° +_scene_ 0.064 -0.000 0.025 -5.669 -0.005 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.463, -0.004, 0.859] + !! OVERLAP: table <-> floor depth=[0.614, -0.004, 0.559] + !! OVERLAP: table <-> floor depth=[0.587, -0.004, 0.609] + !! OVERLAP: chair <-> floor depth=[0.790, -0.004, 0.809] + !! OVERLAP: table <-> floor depth=[1.508, -0.004, 0.894] + !! OVERLAP: tv_stand <-> floor depth=[2.142, -0.004, 0.437] + !! OVERLAP: chair <-> floor depth=[0.587, -0.004, 0.610] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-941 | 15 objects +============================================================ +Final Step Collision Loss: 0.0207, Room Outer Loss: 0.0000, Walkable Loss: 2.2587 (Center Penalty: 1.6142, C1 Heatmap: 1.0015, C2 Repulsion: 10.5096), Relational Loss: 0.0218 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.347 0.842 0.922 1.864 0.002 0.840 179.94° +table 0.865 0.734 0.857 2.211 -0.001 -0.225 0.09° +chair 0.899 0.733 0.936 3.210 0.000 -0.407 -90.02° +table 0.625 0.340 0.680 0.022 0.000 0.837 -0.05° +lamp 0.699 0.976 0.703 1.639 1.908 -0.637 0.07° +chair 0.563 0.756 0.590 -1.775 0.004 -1.728 0.03° +chair 0.532 0.774 0.619 -0.718 0.001 -0.663 -90.13° +chair 0.527 0.774 0.584 -1.819 0.002 -0.461 89.78° +table 1.560 0.720 1.339 -1.483 -0.000 -0.770 0.06° +lamp 0.523 0.738 0.502 -1.751 1.958 -1.032 0.01° +table 1.287 1.094 0.396 -3.204 0.003 0.954 89.92° +chair 0.608 0.761 0.594 -2.307 0.006 -0.920 89.93° +chair 0.387 0.374 0.324 0.712 0.000 -0.259 89.84° +floor 8.086 -0.007 3.864 0.207 -0.001 -0.085 -0.05° +_scene_ 0.068 0.001 0.027 -5.670 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.347, -0.007, 0.922] + !! OVERLAP: table <-> floor depth=[0.865, -0.007, 0.857] + !! OVERLAP: chair <-> floor depth=[0.899, -0.007, 0.936] + !! OVERLAP: table <-> floor depth=[0.625, -0.007, 0.680] + !! OVERLAP: chair <-> table depth=[0.563, 0.720, 0.006] + !! OVERLAP: chair <-> floor depth=[0.563, -0.007, 0.584] + !! OVERLAP: chair <-> table depth=[0.281, 0.720, 0.619] + !! OVERLAP: chair <-> floor depth=[0.532, -0.007, 0.619] + !! OVERLAP: chair <-> table depth=[0.527, 0.720, 0.584] + !! OVERLAP: chair <-> chair depth=[0.079, 0.761, 0.130] + !! OVERLAP: chair <-> floor depth=[0.527, -0.007, 0.584] + !! OVERLAP: table <-> chair depth=[0.259, 0.720, 0.594] + !! OVERLAP: table <-> floor depth=[1.560, -0.007, 1.339] + !! OVERLAP: table <-> floor depth=[1.276, -0.007, 0.396] + !! OVERLAP: chair <-> floor depth=[0.608, -0.007, 0.594] + !! OVERLAP: chair <-> floor depth=[0.387, -0.007, 0.324] +============================================================ + + +============================================================ +SCENE: LivingRoom-2715 | 15 objects +============================================================ +Final Step Collision Loss: 0.0880, Room Outer Loss: 0.6760, Walkable Loss: 2.4199 (Center Penalty: 0.7794, C1 Heatmap: 1.5089, C2 Repulsion: 14.2663), Relational Loss: 0.0181 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.168 1.010 1.167 -0.476 1.677 1.504 -0.10° +table 1.569 0.376 1.150 -0.963 0.000 1.631 90.00° +tv_stand 2.005 0.679 0.469 0.958 -0.000 1.557 -90.03° +sofa 2.870 0.864 1.589 -1.303 0.004 1.520 90.08° +table 1.774 0.738 1.384 -1.158 -0.000 -2.650 0.03° +table 1.906 0.502 0.866 -1.242 0.002 3.196 -156.57° +table 1.469 0.366 1.066 -1.313 0.000 -1.056 0.06° +chair 0.493 1.033 0.604 -1.562 -0.002 -2.084 -179.94° +chair 0.524 0.971 0.477 -1.163 -0.005 -2.000 -146.38° +chair 0.466 0.968 0.485 -1.710 -0.001 -3.236 0.07° +chair 0.499 0.867 0.543 -0.877 -0.001 -3.046 -65.42° +lamp 1.024 1.018 0.745 -1.526 1.604 -2.565 -0.07° +table 0.385 1.355 0.419 0.947 0.002 -0.694 -90.34° +floor 4.403 0.001 6.988 -0.345 0.000 0.250 -0.03° +_scene_ 0.073 0.000 0.028 -5.664 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.569, 0.376, 1.150] + !! OVERLAP: table <-> floor depth=[1.569, 0.001, 1.150] + !! OVERLAP: tv_stand <-> sofa depth=[0.177, 0.679, 0.469] + !! OVERLAP: tv_stand <-> floor depth=[1.902, 0.001, 0.469] + !! OVERLAP: sofa <-> floor depth=[2.679, 0.001, 1.589] + !! OVERLAP: table <-> chair depth=[0.493, 0.738, 0.428] + !! OVERLAP: table <-> chair depth=[0.524, 0.738, 0.280] + !! OVERLAP: table <-> chair depth=[0.466, 0.738, 0.349] + !! OVERLAP: table <-> chair depth=[0.499, 0.738, 0.543] + !! OVERLAP: table <-> floor depth=[1.774, 0.001, 1.285] + !! OVERLAP: table <-> floor depth=[1.906, 0.001, 0.866] + !! OVERLAP: table <-> floor depth=[1.469, 0.001, 1.066] + !! OVERLAP: chair <-> chair depth=[0.109, 0.971, 0.457] + !! OVERLAP: chair <-> floor depth=[0.493, 0.001, 0.604] + !! OVERLAP: chair <-> floor depth=[0.524, 0.001, 0.477] + !! OVERLAP: chair <-> floor depth=[0.466, 0.001, 0.251] + !! OVERLAP: chair <-> floor depth=[0.499, 0.001, 0.469] + !! OVERLAP: table <-> floor depth=[0.385, 0.001, 0.419] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10201 | 13 objects +============================================================ +Final Step Collision Loss: 0.0091, Room Outer Loss: 0.0000, Walkable Loss: 1.3022 (Center Penalty: 0.9711, C1 Heatmap: 0.9035, C2 Repulsion: 4.5528), Relational Loss: 0.0093 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.534 0.855 0.555 -1.665 0.001 -1.522 90.01° +table 0.410 0.340 0.447 0.073 -0.001 -2.205 -89.86° +lamp 0.489 0.790 0.497 0.215 2.025 -2.163 -0.06° +lamp 0.940 0.897 0.946 1.107 1.795 2.346 -0.06° +sofa 2.616 0.741 1.439 1.822 0.017 -2.059 -90.04° +table 0.572 0.714 0.563 -0.244 -0.000 2.790 0.03° +chair 0.608 0.904 0.643 -0.509 0.001 2.077 90.00° +chair 0.476 1.002 0.532 -0.548 0.000 3.022 90.04° +chair 0.486 0.826 0.583 1.684 0.002 2.086 -90.04° +chair 0.507 0.986 0.604 1.567 -0.001 2.849 -90.18° +table 1.294 0.443 0.978 1.479 -0.002 -0.432 -89.85° +floor 6.254 -0.006 7.402 0.047 -0.003 0.186 -0.20° +_scene_ 0.069 0.000 0.021 -5.672 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.534, -0.006, 0.555] + !! OVERLAP: table <-> floor depth=[0.410, -0.006, 0.447] + !! OVERLAP: sofa <-> floor depth=[2.616, -0.006, 1.439] + !! OVERLAP: table <-> chair depth=[0.220, 0.714, 0.315] + !! OVERLAP: table <-> floor depth=[0.572, -0.006, 0.563] + !! OVERLAP: chair <-> floor depth=[0.608, -0.006, 0.643] + !! OVERLAP: chair <-> floor depth=[0.476, -0.006, 0.532] + !! OVERLAP: chair <-> floor depth=[0.486, -0.006, 0.583] + !! OVERLAP: chair <-> floor depth=[0.507, -0.006, 0.604] + !! OVERLAP: table <-> floor depth=[1.294, -0.006, 0.978] +============================================================ + + +============================================================ +SCENE: LivingRoom-24701 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1453, Walkable Loss: 1.6616 (Center Penalty: 1.5378, C1 Heatmap: 0.8193, C2 Repulsion: 5.6494), Relational Loss: 0.0269 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.613 0.588 0.675 1.919 -0.000 1.311 -90.02° +tv_stand 2.386 0.547 0.415 -1.259 0.003 0.410 89.97° +table 1.660 1.886 0.579 0.550 0.004 -0.409 -179.84° +table 0.808 0.513 0.679 1.893 0.002 -1.513 -0.05° +sofa 1.785 0.799 0.885 1.853 0.001 -0.105 -90.08° +chair 0.780 0.955 0.847 1.050 0.000 0.680 -118.04° +floor 5.326 -0.005 5.051 -0.037 0.001 -0.015 0.01° +_scene_ 0.066 0.028 0.185 -5.437 0.007 -5.495 -58.62° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.613, -0.005, 0.675] + !! OVERLAP: tv_stand <-> floor depth=[2.386, -0.005, 0.415] + !! OVERLAP: table <-> sofa depth=[0.420, 0.799, 0.428] + !! OVERLAP: table <-> floor depth=[1.660, -0.005, 0.579] + !! OVERLAP: table <-> floor depth=[0.808, -0.005, 0.679] + !! OVERLAP: sofa <-> chair depth=[0.480, 0.799, 0.081] + !! OVERLAP: sofa <-> floor depth=[1.666, -0.005, 0.885] + !! OVERLAP: chair <-> floor depth=[0.780, -0.005, 0.847] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-11440 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.9281, Walkable Loss: 1.7554 (Center Penalty: 1.5756, C1 Heatmap: 0.8714, C2 Repulsion: 6.1908), Relational Loss: 0.0074 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.074 0.991 1.100 1.363 -0.002 1.764 -89.91° +table 1.419 0.702 0.965 -0.475 0.003 1.892 90.08° +tv_stand 2.272 0.790 0.461 -1.309 0.004 0.810 89.98° +table 1.016 0.577 0.538 0.743 0.003 -0.963 90.06° +chair 0.591 0.714 0.450 0.378 0.001 -0.172 179.94° +chair 0.494 0.644 0.475 0.264 0.002 -1.348 0.03° +chair 0.586 0.578 0.434 1.560 0.003 -0.836 179.92° +chair 0.492 0.680 0.509 1.597 0.001 -1.717 0.01° +cabinet 0.929 1.156 0.312 -0.016 -0.002 -3.212 -0.01° +lamp 0.810 0.883 0.553 -0.046 1.786 1.147 -0.01° +lamp 0.290 1.007 0.323 1.083 1.843 -1.221 0.00° +floor 3.935 -0.000 8.247 0.083 -0.000 0.444 -0.05° +_scene_ 0.070 -0.001 0.021 -5.664 -0.002 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.724, -0.000, 1.100] + !! OVERLAP: table <-> floor depth=[1.419, -0.000, 0.965] + !! OVERLAP: tv_stand <-> floor depth=[1.712, -0.000, 0.461] + !! OVERLAP: table <-> chair depth=[0.276, 0.577, 0.121] + !! OVERLAP: table <-> floor depth=[1.016, -0.000, 0.538] + !! OVERLAP: chair <-> floor depth=[0.591, -0.000, 0.450] + !! OVERLAP: chair <-> floor depth=[0.494, -0.000, 0.475] + !! OVERLAP: chair <-> floor depth=[0.586, -0.000, 0.434] + !! OVERLAP: chair <-> floor depth=[0.492, -0.000, 0.509] + !! OVERLAP: cabinet <-> floor depth=[0.929, -0.000, 0.312] +============================================================ + + +============================================================ +SCENE: LivingRoom-37001 | 13 objects +============================================================ +Final Step Collision Loss: 0.0408, Room Outer Loss: 0.0096, Walkable Loss: 2.0306 (Center Penalty: 1.6883, C1 Heatmap: 0.9213, C2 Repulsion: 8.1789), Relational Loss: 0.0101 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.130 0.840 1.671 1.161 -0.002 -0.758 0.05° +table 1.395 0.468 0.529 0.489 -0.001 -0.238 -0.02° +shelf 0.334 2.175 0.272 3.317 -0.004 -0.976 0.08° +cabinet 0.821 1.197 0.312 -1.482 0.001 1.414 179.99° +table 1.329 0.755 0.745 -3.158 0.002 -0.542 89.93° +chair 0.601 0.781 0.490 -3.466 0.002 -0.579 89.93° +chair 0.607 0.732 0.539 -3.386 0.002 -1.088 89.95° +chair 0.611 0.715 0.655 -2.095 -0.000 -0.451 -90.05° +chair 0.574 0.643 0.589 -2.160 0.002 -1.071 -89.84° +lamp 0.828 0.878 0.838 1.039 1.756 -0.018 -0.01° +lamp 0.867 0.942 0.850 -3.015 1.658 -0.593 -0.01° +floor 7.704 -0.007 3.250 -0.041 0.000 -0.022 -0.02° +_scene_ 0.069 0.000 0.022 -5.674 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.395, 0.468, 0.529] + !! OVERLAP: sofa <-> floor depth=[3.130, -0.007, 1.671] + !! OVERLAP: table <-> floor depth=[1.395, -0.007, 0.529] + !! OVERLAP: shelf <-> floor depth=[0.334, -0.007, 0.272] + !! OVERLAP: cabinet <-> floor depth=[0.821, -0.007, 0.312] + !! OVERLAP: table <-> chair depth=[0.601, 0.755, 0.490] + !! OVERLAP: table <-> chair depth=[0.607, 0.732, 0.096] + !! OVERLAP: table <-> floor depth=[1.329, -0.007, 0.745] + !! OVERLAP: chair <-> chair depth=[0.523, 0.732, 0.006] + !! OVERLAP: chair <-> floor depth=[0.601, -0.007, 0.490] + !! OVERLAP: chair <-> floor depth=[0.607, -0.007, 0.539] + !! OVERLAP: chair <-> chair depth=[0.527, 0.643, 0.001] + !! OVERLAP: chair <-> floor depth=[0.611, -0.007, 0.655] + !! OVERLAP: chair <-> floor depth=[0.574, -0.007, 0.589] +============================================================ + + +============================================================ +SCENE: LivingRoom-1255 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.8672, Walkable Loss: 1.7747 (Center Penalty: 1.9321, C1 Heatmap: 1.0760, C2 Repulsion: 3.7825), Relational Loss: 0.0443 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.629 2.539 0.501 -0.008 0.008 1.870 -179.84° +sofa 2.186 0.991 0.959 0.847 -0.001 -1.140 -90.09° +table 1.189 0.668 1.265 0.700 0.000 0.702 0.03° +table 1.098 0.462 1.046 -0.217 -0.001 -1.031 -98.23° +lamp 0.547 0.526 0.516 0.272 2.332 0.316 -0.08° +floor 3.281 -0.002 4.721 -0.018 0.001 -0.015 0.01° +_scene_ 0.077 -0.001 0.019 -5.671 -0.008 -5.711 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[3.281, -0.002, 0.501] + !! OVERLAP: sofa <-> table depth=[0.578, 0.462, 0.894] + !! OVERLAP: sofa <-> floor depth=[1.868, -0.002, 0.959] + !! OVERLAP: table <-> floor depth=[1.189, -0.002, 1.265] + !! OVERLAP: table <-> floor depth=[1.098, -0.002, 1.046] +============================================================ + + +============================================================ +SCENE: LivingRoom-3168 | 17 objects +============================================================ +Final Step Collision Loss: 0.0278, Room Outer Loss: 0.0000, Walkable Loss: 2.2148 (Center Penalty: 1.0165, C1 Heatmap: 1.0762, C2 Repulsion: 12.7609), Relational Loss: 0.0133 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.399 0.719 1.101 0.326 0.001 -2.558 0.03° +chair 0.499 0.985 0.554 1.146 0.003 -2.911 0.09° +chair 0.520 0.976 0.611 1.247 0.003 -1.906 179.95° +chair 0.519 1.026 0.577 0.869 0.001 -1.825 179.95° +chair 0.552 1.014 0.610 0.745 0.001 -2.964 -0.00° +lamp 0.805 0.847 0.782 -0.038 1.784 1.563 -0.05° +sofa 2.233 0.919 0.868 -1.890 0.001 1.363 89.90° +chair 0.793 0.829 0.808 -0.200 0.001 2.999 179.85° +chair 0.899 0.877 0.872 0.266 0.001 3.354 -164.63° +table 1.698 0.428 0.793 -0.224 0.000 1.623 90.01° +table 0.514 0.669 0.464 -1.465 0.001 0.130 0.03° +table 0.436 0.583 0.459 -1.950 -0.000 3.275 0.18° +chair 0.553 0.505 0.506 -0.031 -0.002 0.434 -0.04° +table 1.219 0.742 0.361 -2.332 0.003 -1.648 90.03° +lamp 0.952 1.072 0.977 0.262 1.727 -2.182 -90.15° +floor 5.086 0.001 8.554 -0.631 0.001 0.393 -0.04° +_scene_ 0.075 -0.002 0.023 -5.668 -0.003 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.499, 0.719, 0.475] + !! OVERLAP: table <-> chair depth=[0.520, 0.719, 0.203] + !! OVERLAP: table <-> chair depth=[0.519, 0.719, 0.106] + !! OVERLAP: table <-> chair depth=[0.552, 0.719, 0.450] + !! OVERLAP: table <-> floor depth=[2.399, 0.001, 1.101] + !! OVERLAP: chair <-> chair depth=[0.124, 0.985, 0.529] + !! OVERLAP: chair <-> floor depth=[0.499, 0.001, 0.554] + !! OVERLAP: chair <-> chair depth=[0.141, 0.976, 0.513] + !! OVERLAP: chair <-> floor depth=[0.520, 0.001, 0.611] + !! OVERLAP: chair <-> floor depth=[0.519, 0.001, 0.577] + !! OVERLAP: chair <-> floor depth=[0.552, 0.001, 0.610] + !! OVERLAP: sofa <-> table depth=[0.299, 0.428, 0.571] + !! OVERLAP: sofa <-> floor depth=[2.233, 0.001, 0.868] + !! OVERLAP: chair <-> chair depth=[0.380, 0.829, 0.485] + !! OVERLAP: chair <-> floor depth=[0.793, 0.001, 0.808] + !! OVERLAP: chair <-> floor depth=[0.899, 0.001, 0.872] + !! OVERLAP: table <-> floor depth=[1.698, 0.001, 0.793] + !! OVERLAP: table <-> floor depth=[0.514, 0.001, 0.464] + !! OVERLAP: table <-> floor depth=[0.436, 0.001, 0.459] + !! OVERLAP: chair <-> floor depth=[0.553, 0.001, 0.506] + !! OVERLAP: table <-> floor depth=[1.219, 0.001, 0.361] +============================================================ + + +============================================================ +SCENE: LivingRoom-26286 | 16 objects +============================================================ +Final Step Collision Loss: 0.0131, Room Outer Loss: 0.0000, Walkable Loss: 2.7021 (Center Penalty: 1.1413, C1 Heatmap: 1.3630, C2 Repulsion: 15.8626), Relational Loss: 0.0192 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.515 0.929 0.563 1.890 0.001 -1.591 0.02° +chair 0.582 0.911 0.591 2.357 -0.000 -1.643 -0.29° +chair 0.501 0.931 0.551 1.995 0.002 0.056 -90.18° +chair 0.511 0.871 0.574 2.632 0.001 0.129 -90.16° +chair 0.491 0.848 0.497 -2.521 0.001 -0.409 89.88° +sofa 2.511 0.824 0.848 -1.745 0.001 1.365 -179.98° +table 1.207 0.568 1.080 0.184 0.001 0.925 -0.00° +table 1.194 0.550 1.042 -2.697 0.000 0.887 -0.02° +table 1.232 0.477 1.131 -1.177 -0.001 -0.938 -0.05° +table 1.122 0.634 0.860 2.132 -0.001 -0.770 0.08° +table 1.483 1.588 0.375 1.307 0.007 1.637 -180.00° +table 1.266 0.463 1.039 -1.751 0.000 0.167 -90.06° +lamp 0.330 0.374 0.350 -1.306 2.244 -0.285 -0.03° +lamp 0.822 0.634 0.405 2.044 1.958 -0.395 -0.03° +floor 6.453 -0.007 4.101 -0.042 0.001 -0.101 0.06° +_scene_ 0.070 -0.001 0.032 -5.641 -0.004 -5.688 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.082, 0.911, 0.526] + !! OVERLAP: chair <-> floor depth=[0.515, -0.007, 0.563] + !! OVERLAP: chair <-> floor depth=[0.582, -0.007, 0.591] + !! OVERLAP: chair <-> floor depth=[0.501, -0.007, 0.551] + !! OVERLAP: chair <-> floor depth=[0.511, -0.007, 0.574] + !! OVERLAP: chair <-> table depth=[0.108, 0.463, 0.191] + !! OVERLAP: chair <-> floor depth=[0.491, -0.007, 0.497] + !! OVERLAP: sofa <-> table depth=[0.900, 0.550, 0.467] + !! OVERLAP: sofa <-> floor depth=[2.511, -0.007, 0.848] + !! OVERLAP: table <-> table depth=[0.222, 0.568, 0.016] + !! OVERLAP: table <-> floor depth=[1.207, -0.007, 1.080] + !! OVERLAP: table <-> table depth=[0.284, 0.463, 0.321] + !! OVERLAP: table <-> floor depth=[1.169, -0.007, 1.042] + !! OVERLAP: table <-> floor depth=[1.232, -0.007, 1.131] + !! OVERLAP: table <-> floor depth=[1.122, -0.007, 0.860] + !! OVERLAP: table <-> floor depth=[1.483, -0.007, 0.375] + !! OVERLAP: table <-> floor depth=[1.266, -0.007, 1.039] +============================================================ + + +============================================================ +SCENE: LivingRoom-4960 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0308 (Center Penalty: 2.4254, C1 Heatmap: 0.8542, C2 Repulsion: 4.7644), Relational Loss: 0.0192 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.246 0.881 0.972 0.304 0.000 -1.242 -0.01° +table 1.305 0.863 0.784 0.547 -0.001 0.061 -0.00° +table 0.569 0.594 0.549 -1.287 0.001 -1.466 -0.22° +chair 0.881 0.818 0.854 -1.571 0.000 -0.434 64.31° +table 0.531 0.518 0.372 1.788 0.001 -1.511 -0.06° +chair 0.715 0.417 0.389 1.712 -0.001 0.073 -90.00° +lamp 0.586 0.898 0.573 0.345 1.770 -0.080 -0.04° +tv_stand 2.040 0.551 0.401 0.928 0.002 1.678 179.93° +floor 5.165 -0.002 3.722 -0.018 0.001 -0.016 -0.02° +_scene_ 0.065 0.001 0.022 -5.673 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.246, -0.002, 0.972] + !! OVERLAP: table <-> floor depth=[1.305, -0.002, 0.784] + !! OVERLAP: table <-> floor depth=[0.569, -0.002, 0.549] + !! OVERLAP: chair <-> floor depth=[0.881, -0.002, 0.854] + !! OVERLAP: table <-> floor depth=[0.531, -0.002, 0.372] + !! OVERLAP: chair <-> floor depth=[0.715, -0.002, 0.389] + !! OVERLAP: tv_stand <-> floor depth=[2.040, -0.002, 0.367] +============================================================ + + +============================================================ +SCENE: LivingRoom-2410 | 12 objects +============================================================ +Final Step Collision Loss: 0.1177, Room Outer Loss: 0.0000, Walkable Loss: 2.8965 (Center Penalty: 1.5951, C1 Heatmap: 1.0931, C2 Repulsion: 16.6167), Relational Loss: 0.0212 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.705 0.474 0.672 0.451 0.004 1.425 -158.56° +sofa 2.335 0.822 0.950 -0.524 0.003 1.062 179.87° +table 1.483 0.755 1.483 0.991 -0.002 -1.002 0.01° +chair 0.508 0.985 0.561 1.297 0.001 -1.575 -90.10° +chair 0.575 1.013 0.589 1.172 0.000 -0.249 180.00° +chair 0.648 0.970 0.674 0.406 -0.002 -0.582 179.92° +chair 0.690 1.007 0.834 0.069 0.002 -1.626 89.92° +chair 0.664 0.986 0.783 0.860 -0.000 -0.550 179.98° +chair 0.744 0.965 0.767 0.786 0.000 -1.988 0.05° +bookshelf 0.529 1.306 0.284 -1.634 0.002 2.003 89.97° +floor 3.995 -0.001 5.724 -0.040 0.001 -0.125 -0.03° +_scene_ 0.069 0.002 0.023 -5.664 -0.005 -5.693 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.545, 0.474, 0.448] + !! OVERLAP: table <-> floor depth=[0.705, -0.001, 0.672] + !! OVERLAP: sofa <-> floor depth=[2.335, -0.001, 0.950] + !! OVERLAP: table <-> chair depth=[0.508, 0.755, 0.450] + !! OVERLAP: table <-> chair depth=[0.575, 0.755, 0.283] + !! OVERLAP: table <-> chair depth=[0.481, 0.755, 0.658] + !! OVERLAP: table <-> chair depth=[0.165, 0.755, 0.535] + !! OVERLAP: table <-> chair depth=[0.664, 0.755, 0.681] + !! OVERLAP: table <-> chair depth=[0.744, 0.755, 0.139] + !! OVERLAP: table <-> floor depth=[1.483, -0.001, 1.483] + !! OVERLAP: chair <-> chair depth=[0.115, 0.965, 0.250] + !! OVERLAP: chair <-> floor depth=[0.508, -0.001, 0.561] + !! OVERLAP: chair <-> chair depth=[0.308, 0.986, 0.385] + !! OVERLAP: chair <-> floor depth=[0.575, -0.001, 0.589] + !! OVERLAP: chair <-> chair depth=[0.202, 0.970, 0.674] + !! OVERLAP: chair <-> floor depth=[0.648, -0.001, 0.674] + !! OVERLAP: chair <-> chair depth=[0.000, 0.965, 0.438] + !! OVERLAP: chair <-> floor depth=[0.690, -0.001, 0.834] + !! OVERLAP: chair <-> floor depth=[0.664, -0.001, 0.783] + !! OVERLAP: chair <-> floor depth=[0.744, -0.001, 0.767] + !! OVERLAP: bookshelf <-> floor depth=[0.529, -0.001, 0.284] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17836 | 19 objects +============================================================ +Final Step Collision Loss: 0.0157, Room Outer Loss: 0.0000, Walkable Loss: 3.2311 (Center Penalty: 1.2369, C1 Heatmap: 1.3400, C2 Repulsion: 20.7666), Relational Loss: 0.0132 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.508 0.562 0.501 0.356 0.000 1.458 180.00° +table 0.481 0.586 0.472 -2.522 -0.001 1.315 179.92° +table 0.994 0.381 1.078 -1.510 0.001 0.068 -0.04° +sofa 2.130 0.980 0.943 -1.099 0.001 1.229 -179.99° +chair 0.973 0.750 1.084 -0.811 0.002 0.394 -99.49° +chair 0.811 0.820 0.926 -3.184 -0.000 0.209 89.90° +table 1.856 0.775 1.220 2.226 0.003 0.660 -0.06° +chair 0.569 0.860 0.592 2.015 0.001 0.021 0.02° +chair 0.411 0.903 0.441 2.428 -0.001 -0.015 -0.23° +chair 0.453 0.980 0.589 3.138 0.001 0.177 -90.01° +chair 0.485 0.893 0.512 2.155 0.000 1.496 179.95° +chair 0.446 0.931 0.539 2.758 0.001 1.377 179.93° +chair 0.394 0.966 0.503 3.129 0.005 1.507 -179.83° +tv_stand 2.203 0.756 0.490 -1.928 0.002 -1.467 -0.01° +lamp 0.348 0.939 0.335 -1.363 1.611 -0.101 -0.05° +lamp 0.239 1.164 0.247 2.551 1.038 0.458 0.07° +table 1.367 1.730 0.302 2.834 -0.001 -1.546 -0.02° +floor 7.232 -0.003 3.826 -0.266 0.001 -0.166 0.01° +_scene_ 0.064 -0.000 0.021 -5.670 -0.004 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.508, -0.003, 0.501] + !! OVERLAP: table <-> floor depth=[0.481, -0.003, 0.472] + !! OVERLAP: table <-> chair depth=[0.284, 0.381, 0.755] + !! OVERLAP: table <-> floor depth=[0.994, -0.003, 1.078] + !! OVERLAP: sofa <-> chair depth=[0.973, 0.750, 0.179] + !! OVERLAP: sofa <-> floor depth=[2.130, -0.003, 0.943] + !! OVERLAP: chair <-> floor depth=[0.973, -0.003, 1.084] + !! OVERLAP: chair <-> floor depth=[0.811, -0.003, 0.926] + !! OVERLAP: table <-> chair depth=[0.569, 0.775, 0.268] + !! OVERLAP: table <-> chair depth=[0.411, 0.775, 0.156] + !! OVERLAP: table <-> chair depth=[0.242, 0.775, 0.422] + !! OVERLAP: table <-> chair depth=[0.485, 0.775, 0.030] + !! OVERLAP: table <-> chair depth=[0.446, 0.775, 0.162] + !! OVERLAP: table <-> chair depth=[0.222, 0.775, 0.015] + !! OVERLAP: table <-> floor depth=[1.856, -0.003, 1.220] + !! OVERLAP: chair <-> chair depth=[0.077, 0.860, 0.441] + !! OVERLAP: chair <-> floor depth=[0.569, -0.003, 0.592] + !! OVERLAP: chair <-> floor depth=[0.411, -0.003, 0.441] + !! OVERLAP: chair <-> floor depth=[0.438, -0.003, 0.589] + !! OVERLAP: chair <-> floor depth=[0.485, -0.003, 0.507] + !! OVERLAP: chair <-> chair depth=[0.050, 0.931, 0.392] + !! OVERLAP: chair <-> floor depth=[0.446, -0.003, 0.539] + !! OVERLAP: chair <-> floor depth=[0.394, -0.003, 0.492] + !! OVERLAP: tv_stand <-> floor depth=[2.203, -0.003, 0.490] + !! OVERLAP: table <-> floor depth=[1.199, -0.003, 0.302] +============================================================ + + +============================================================ +SCENE: LivingRoom-52289 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0102 (Center Penalty: 2.5551, C1 Heatmap: 0.8083, C2 Repulsion: 4.0926), Relational Loss: 0.0209 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.643 0.950 0.654 -0.084 1.758 0.015 -0.05° +chair 0.962 0.774 0.876 -1.596 -0.003 0.182 117.12° +sofa 2.619 0.961 0.989 -0.510 0.001 -1.248 0.01° +table 0.778 0.487 0.664 1.147 0.002 -1.392 -0.08° +table 0.789 0.515 0.835 1.853 -0.002 0.039 -78.28° +table 0.903 0.423 1.190 -0.439 -0.001 0.292 -0.04° +floor 4.615 -0.000 3.659 -0.004 0.000 -0.011 -0.03° +_scene_ 0.077 0.018 0.052 -5.616 -0.003 -5.642 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.962, -0.000, 0.876] + !! OVERLAP: sofa <-> table depth=[0.042, 0.487, 0.664] + !! OVERLAP: sofa <-> floor depth=[2.619, -0.000, 0.989] + !! OVERLAP: table <-> floor depth=[0.778, -0.000, 0.664] + !! OVERLAP: table <-> floor depth=[0.789, -0.000, 0.835] + !! OVERLAP: table <-> floor depth=[0.903, -0.000, 1.190] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19931 | 19 objects +============================================================ +Final Step Collision Loss: 0.0108, Room Outer Loss: 0.4405, Walkable Loss: 2.6331 (Center Penalty: 1.5090, C1 Heatmap: 1.1868, C2 Repulsion: 14.0389), Relational Loss: 0.0108 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.208 0.904 0.882 -1.469 0.009 -1.919 90.07° +chair 0.944 0.806 1.006 0.319 -0.000 -3.487 -23.84° +table 1.290 0.339 0.862 0.418 -0.000 -1.791 89.99° +cabinet 0.845 1.908 0.365 1.966 0.001 3.697 -90.00° +table 2.146 0.824 1.086 0.342 0.001 1.776 0.01° +chair 0.554 0.814 0.603 0.162 0.002 1.217 0.02° +chair 0.514 0.817 0.564 1.069 -0.000 1.629 -90.01° +chair 0.501 0.817 0.537 0.922 0.000 2.758 -89.96° +chair 0.467 0.819 0.534 -0.101 0.001 2.610 179.93° +chair 0.590 0.824 0.641 -0.720 0.001 2.730 89.90° +chair 0.542 0.826 0.598 -0.935 0.001 1.427 89.99° +tv_stand 2.057 0.459 0.433 1.690 -0.000 -2.462 -90.22° +table 0.523 0.457 0.483 -1.229 0.004 -0.548 90.05° +table 0.490 0.469 0.468 -1.324 0.003 -3.548 89.90° +chair 0.811 0.884 0.831 -0.093 0.002 -0.573 168.66° +lamp 0.488 0.519 0.386 0.112 1.957 -2.051 -0.06° +lamp 0.566 0.463 0.435 0.377 2.088 1.946 -0.08° +floor 4.949 -0.003 8.189 -0.001 0.000 -0.143 -0.04° +_scene_ 0.067 0.003 0.017 -5.671 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.111, -0.003, 0.882] + !! OVERLAP: chair <-> floor depth=[0.944, -0.003, 1.006] + !! OVERLAP: table <-> floor depth=[1.290, -0.003, 0.862] + !! OVERLAP: cabinet <-> floor depth=[0.845, -0.003, 0.365] + !! OVERLAP: table <-> chair depth=[0.554, 0.814, 0.285] + !! OVERLAP: table <-> chair depth=[0.514, 0.817, 0.564] + !! OVERLAP: table <-> chair depth=[0.068, 0.824, 0.493] + !! OVERLAP: table <-> floor depth=[2.146, -0.003, 1.086] + !! OVERLAP: chair <-> floor depth=[0.554, -0.003, 0.603] + !! OVERLAP: chair <-> floor depth=[0.514, -0.003, 0.564] + !! OVERLAP: chair <-> floor depth=[0.501, -0.003, 0.537] + !! OVERLAP: chair <-> floor depth=[0.467, -0.003, 0.534] + !! OVERLAP: chair <-> floor depth=[0.590, -0.003, 0.641] + !! OVERLAP: chair <-> floor depth=[0.542, -0.003, 0.598] + !! OVERLAP: tv_stand <-> floor depth=[1.812, -0.003, 0.433] + !! OVERLAP: table <-> floor depth=[0.523, -0.003, 0.483] + !! OVERLAP: table <-> floor depth=[0.490, -0.003, 0.468] + !! OVERLAP: chair <-> floor depth=[0.811, -0.003, 0.831] +============================================================ + + +============================================================ +SCENE: LivingRoom-4789 | 23 objects +============================================================ +Final Step Collision Loss: 0.0113, Room Outer Loss: 0.0000, Walkable Loss: 3.3406 (Center Penalty: 0.9310, C1 Heatmap: 1.1636, C2 Repulsion: 24.0972), Relational Loss: 0.0078 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.320 0.904 0.847 -1.862 0.005 2.438 89.94° +chair 0.995 0.838 1.008 -0.598 0.000 3.876 179.99° +table 1.377 0.478 1.050 -0.381 0.003 2.454 90.07° +table 0.578 0.698 0.491 -1.865 0.004 3.754 89.98° +table 0.505 0.543 0.476 -1.709 0.002 0.976 90.03° +table 0.499 0.506 0.509 -1.768 0.003 3.379 90.01° +table 2.273 0.720 0.943 -1.393 0.000 -2.428 0.00° +chair 0.600 1.042 0.669 -1.924 -0.002 -3.068 -0.07° +chair 0.536 1.093 0.539 -1.158 -0.004 -2.941 -0.17° +chair 0.534 1.151 0.574 -0.244 -0.004 -2.602 -90.29° +chair 0.590 1.127 0.677 -2.142 -0.003 -1.789 -179.94° +chair 0.519 1.169 0.594 -0.895 -0.001 -1.725 -179.98° +table 2.021 0.780 0.850 -1.264 0.001 -0.789 0.04° +table 0.591 0.496 0.442 -2.044 0.001 -0.122 90.04° +table 1.005 0.936 0.540 -0.991 0.003 -3.653 -89.83° +chair 0.658 0.475 0.533 -0.569 -0.001 1.034 10.64° +lamp 0.983 0.982 0.974 -0.549 1.762 2.098 0.01° +lamp 0.580 0.561 0.497 -0.631 2.160 0.231 90.12° +lamp 0.648 0.204 0.530 1.108 2.381 -0.084 -0.03° +lamp 0.451 0.670 0.459 -1.690 2.215 -2.051 -0.04° +lamp 0.727 0.708 0.750 0.250 2.259 -3.803 90.16° +floor 5.120 -0.007 9.788 -0.698 0.001 0.355 -0.00° +_scene_ 0.069 0.000 0.023 -5.661 -0.005 -5.709 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.368, 0.478, 0.847] + !! OVERLAP: sofa <-> floor depth=[2.320, -0.007, 0.847] + !! OVERLAP: chair <-> floor depth=[0.995, -0.007, 1.008] + !! OVERLAP: table <-> floor depth=[1.377, -0.007, 1.050] + !! OVERLAP: table <-> table depth=[0.442, 0.506, 0.125] + !! OVERLAP: table <-> floor depth=[0.578, -0.007, 0.491] + !! OVERLAP: table <-> floor depth=[0.505, -0.007, 0.476] + !! OVERLAP: table <-> floor depth=[0.499, -0.007, 0.509] + !! OVERLAP: table <-> chair depth=[0.600, 0.720, 0.166] + !! OVERLAP: table <-> chair depth=[0.536, 0.720, 0.228] + !! OVERLAP: table <-> chair depth=[0.254, 0.720, 0.574] + !! OVERLAP: table <-> chair depth=[0.590, 0.720, 0.172] + !! OVERLAP: table <-> chair depth=[0.519, 0.720, 0.066] + !! OVERLAP: table <-> floor depth=[2.273, -0.007, 0.943] + !! OVERLAP: chair <-> floor depth=[0.600, -0.007, 0.669] + !! OVERLAP: chair <-> floor depth=[0.536, -0.007, 0.539] + !! OVERLAP: chair <-> floor depth=[0.534, -0.007, 0.574] + !! OVERLAP: chair <-> floor depth=[0.590, -0.007, 0.677] + !! OVERLAP: chair <-> floor depth=[0.519, -0.007, 0.594] + !! OVERLAP: table <-> floor depth=[2.021, -0.007, 0.850] + !! OVERLAP: table <-> floor depth=[0.591, -0.007, 0.442] + !! OVERLAP: table <-> floor depth=[1.005, -0.007, 0.540] + !! OVERLAP: chair <-> floor depth=[0.658, -0.007, 0.533] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-814 | 5 objects +============================================================ +Final Step Collision Loss: 0.2004, Room Outer Loss: 0.0000, Walkable Loss: 1.3954 (Center Penalty: 1.7029, C1 Heatmap: 0.8983, C2 Repulsion: 1.8464), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 3.253 0.110 2.950 -0.085 0.001 0.852 -0.09° +chair 0.520 0.784 0.536 -0.338 -0.001 -0.465 0.06° +chair 0.413 0.767 0.404 -1.326 0.002 -0.819 -0.08° +floor 5.368 0.001 6.010 -0.003 0.001 -0.025 -0.05° +_scene_ 0.045 0.005 0.017 -5.657 -0.006 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.520, 0.110, 0.426] + !! OVERLAP: table <-> chair depth=[0.413, 0.110, 0.006] + !! OVERLAP: table <-> floor depth=[3.253, 0.001, 2.950] + !! OVERLAP: chair <-> floor depth=[0.520, 0.001, 0.536] + !! OVERLAP: chair <-> floor depth=[0.413, 0.001, 0.404] +============================================================ + + +============================================================ +SCENE: LivingRoom-35461 | 12 objects +============================================================ +Final Step Collision Loss: 0.0502, Room Outer Loss: 0.3815, Walkable Loss: 1.5455 (Center Penalty: 1.7230, C1 Heatmap: 0.5843, C2 Repulsion: 4.5023), Relational Loss: 0.0201 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.890 1.071 0.849 -1.154 0.007 0.773 61.08° +tv_stand 1.354 0.424 0.355 1.145 0.000 0.681 -89.92° +table 0.517 0.810 0.474 -1.031 -0.001 2.392 0.03° +cabinet 0.838 1.024 0.299 1.020 0.000 2.282 -90.00° +lamp 0.481 0.664 0.446 -0.200 2.206 0.869 0.01° +lamp 1.029 0.922 1.099 -0.646 1.766 -2.544 -89.98° +lamp 0.972 0.878 1.043 -0.896 2.018 -2.245 -89.85° +table 1.397 0.572 1.018 -0.720 -0.003 0.481 -0.03° +chair 0.541 0.907 0.555 -0.792 0.000 -0.511 0.09° +chair 0.635 0.908 0.651 -0.596 0.001 2.101 179.75° +floor 3.033 0.000 7.074 0.019 0.001 -0.177 -0.01° +_scene_ 0.071 0.001 0.026 -5.670 -0.003 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.710, 0.572, 0.642] + !! OVERLAP: chair <-> floor depth=[0.788, 0.000, 0.849] + !! OVERLAP: tv_stand <-> floor depth=[1.068, 0.000, 0.355] + !! OVERLAP: table <-> chair depth=[0.141, 0.810, 0.272] + !! OVERLAP: table <-> floor depth=[0.517, 0.000, 0.474] + !! OVERLAP: cabinet <-> floor depth=[0.838, 0.000, 0.299] + !! OVERLAP: lamp <-> lamp depth=[0.750, 0.649, 0.772] + !! OVERLAP: table <-> floor depth=[1.397, 0.000, 1.018] + !! OVERLAP: chair <-> floor depth=[0.541, 0.000, 0.555] + !! OVERLAP: chair <-> floor depth=[0.635, 0.000, 0.651] +============================================================ + + +============================================================ +SCENE: LivingRoom-360 | 8 objects +============================================================ +Final Step Collision Loss: 0.0272, Room Outer Loss: 0.1259, Walkable Loss: 1.6805 (Center Penalty: 2.3694, C1 Heatmap: 0.6960, C2 Repulsion: 2.1745), Relational Loss: 0.0252 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.845 0.699 1.060 -1.501 0.004 0.292 90.09° +sofa 2.315 0.857 1.028 1.612 0.000 0.391 -89.90° +chair 0.597 0.974 0.626 -0.127 0.000 0.192 -90.18° +chair 0.524 0.880 0.517 -1.944 -0.001 0.818 89.95° +lamp 0.771 0.767 0.768 0.565 1.937 -0.204 0.02° +lamp 0.596 0.799 0.584 -1.318 1.963 0.491 0.01° +floor 5.298 0.006 2.463 -0.087 0.001 -0.030 0.02° +_scene_ 0.073 0.001 0.025 -5.667 -0.004 -5.706 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.524, 0.699, 0.262] + !! OVERLAP: table <-> floor depth=[1.845, 0.006, 1.060] + !! OVERLAP: sofa <-> floor depth=[2.107, 0.006, 1.028] + !! OVERLAP: chair <-> floor depth=[0.597, 0.006, 0.626] + !! OVERLAP: chair <-> floor depth=[0.524, 0.006, 0.517] +============================================================ + + +============================================================ +SCENE: DiningRoom-15534 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2046, Walkable Loss: 3.0781 (Center Penalty: 3.7302, C1 Heatmap: 0.8419, C2 Repulsion: 8.7620), Relational Loss: 0.0002 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.329 0.748 0.931 -0.000 0.002 0.006 -89.89° +chair 0.517 0.875 0.541 -1.340 -0.000 0.309 90.03° +chair 0.522 0.889 0.578 -1.297 0.001 -0.632 90.03° +chair 0.513 0.923 0.537 0.975 0.002 0.261 -89.99° +chair 0.478 0.908 0.534 1.152 0.000 -0.760 -89.96° +cabinet 2.919 2.432 0.455 0.612 0.002 1.481 -179.91° +lamp 0.070 1.006 0.085 0.151 1.162 -0.474 -0.05° +lamp 0.130 0.899 0.181 -0.100 1.250 0.203 -90.11° +floor 4.257 -0.003 3.133 -0.022 -0.001 0.035 -0.05° +_scene_ 0.071 0.001 0.021 -5.670 -0.004 -5.710 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.083, 0.748, 0.433] + !! OVERLAP: table <-> chair depth=[0.128, 0.748, 0.116] + !! OVERLAP: table <-> chair depth=[0.445, 0.748, 0.479] + !! OVERLAP: table <-> floor depth=[2.329, -0.003, 0.931] + !! OVERLAP: chair <-> floor depth=[0.517, -0.003, 0.541] + !! OVERLAP: chair <-> floor depth=[0.522, -0.003, 0.578] + !! OVERLAP: chair <-> floor depth=[0.513, -0.003, 0.537] + !! OVERLAP: chair <-> floor depth=[0.478, -0.003, 0.534] + !! OVERLAP: cabinet <-> floor depth=[2.919, -0.003, 0.349] +============================================================ + + +============================================================ +SCENE: DiningRoom-31158 | 8 objects +============================================================ +Final Step Collision Loss: 0.0687, Room Outer Loss: 0.0000, Walkable Loss: 2.7476 (Center Penalty: 4.0820, C1 Heatmap: 0.4167, C2 Repulsion: 5.3991), Relational Loss: 0.0275 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.457 0.810 1.084 -0.024 0.000 0.049 90.04° +chair 0.512 0.771 0.554 0.646 -0.001 0.542 -179.94° +chair 0.533 0.800 0.567 -0.756 0.001 0.456 179.94° +chair 0.513 0.798 0.506 0.397 0.001 -0.630 0.03° +chair 0.641 0.779 0.659 -0.499 0.002 -0.578 0.05° +lamp 1.174 1.117 1.201 -0.224 1.545 0.113 0.01° +floor 4.038 0.005 2.515 0.012 0.000 -0.001 0.01° +_scene_ 0.065 -0.000 0.022 -5.675 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.315, 0.771, 0.326] + !! OVERLAP: table <-> chair depth=[0.263, 0.800, 0.419] + !! OVERLAP: table <-> chair depth=[0.513, 0.798, 0.116] + !! OVERLAP: table <-> chair depth=[0.574, 0.779, 0.244] + !! OVERLAP: table <-> floor depth=[1.457, 0.005, 1.084] + !! OVERLAP: chair <-> floor depth=[0.512, 0.005, 0.554] + !! OVERLAP: chair <-> floor depth=[0.533, 0.005, 0.567] + !! OVERLAP: chair <-> floor depth=[0.513, 0.005, 0.506] + !! OVERLAP: chair <-> floor depth=[0.641, 0.005, 0.659] +============================================================ + + +============================================================ +SCENE: DiningRoom-197500 | 13 objects +============================================================ +Final Step Collision Loss: 0.0289, Room Outer Loss: 1.0232, Walkable Loss: 3.5682 (Center Penalty: 3.6024, C1 Heatmap: 0.9541, C2 Repulsion: 13.8538), Relational Loss: 0.0129 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.459 0.722 1.065 -0.292 -0.000 -0.203 -179.95° +chair 0.526 0.866 0.581 -0.385 0.001 0.567 -179.96° +chair 0.513 0.852 0.547 0.545 0.001 0.594 -128.27° +chair 0.416 0.894 0.508 0.366 -0.001 -0.803 -40.56° +chair 0.539 0.886 0.575 -0.270 -0.000 -1.043 0.02° +chair 0.482 0.868 0.498 -1.231 -0.003 0.337 140.03° +cabinet 2.394 2.524 0.389 -2.270 -0.000 0.219 89.97° +cabinet 1.634 2.152 0.300 1.556 -0.001 -0.594 -90.08° +chair 0.562 0.823 0.527 -1.054 0.014 -0.678 56.37° +cabinet 2.036 2.172 0.366 1.446 0.003 0.407 -90.00° +lamp 0.353 0.564 0.330 -0.312 2.271 -0.151 -0.02° +floor 5.085 -0.001 4.199 -0.080 0.000 -0.050 0.02° +_scene_ 0.065 -0.000 0.022 -5.675 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.526, 0.722, 0.054] + !! OVERLAP: table <-> chair depth=[0.148, 0.722, 0.010] + !! OVERLAP: table <-> chair depth=[0.279, 0.722, 0.187] + !! OVERLAP: table <-> chair depth=[0.031, 0.722, 0.242] + !! OVERLAP: table <-> chair depth=[0.248, 0.722, 0.321] + !! OVERLAP: table <-> cabinet depth=[0.009, 0.722, 0.106] + !! OVERLAP: table <-> floor depth=[1.459, -0.001, 1.065] + !! OVERLAP: chair <-> floor depth=[0.526, -0.001, 0.581] + !! OVERLAP: chair <-> cabinet depth=[0.374, 0.852, 0.270] + !! OVERLAP: chair <-> floor depth=[0.513, -0.001, 0.547] + !! OVERLAP: chair <-> floor depth=[0.416, -0.001, 0.508] + !! OVERLAP: chair <-> floor depth=[0.539, -0.001, 0.575] + !! OVERLAP: chair <-> cabinet depth=[0.399, 0.868, 0.325] + !! OVERLAP: chair <-> floor depth=[0.482, -0.001, 0.498] + !! OVERLAP: cabinet <-> floor depth=[1.549, -0.001, 0.389] + !! OVERLAP: cabinet <-> floor depth=[1.634, -0.001, 0.300] + !! OVERLAP: chair <-> floor depth=[0.562, -0.001, 0.527] + !! OVERLAP: cabinet <-> floor depth=[2.035, -0.001, 0.366] +============================================================ + + +============================================================ +SCENE: DiningRoom-26805 | 9 objects +============================================================ +Final Step Collision Loss: 0.0074, Room Outer Loss: 0.0000, Walkable Loss: 2.2859 (Center Penalty: 2.7335, C1 Heatmap: 0.5965, C2 Repulsion: 6.8055), Relational Loss: 0.0069 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.457 0.689 0.432 -0.741 0.003 -1.109 67.89° +table 2.479 0.988 0.929 -0.045 0.005 -0.072 89.94° +chair 0.504 0.723 0.512 -0.867 0.001 -0.185 90.01° +chair 0.515 0.747 0.510 -0.937 -0.000 0.765 122.59° +chair 0.592 0.718 0.531 0.660 0.003 0.833 -129.72° +chair 0.569 0.721 0.591 0.683 0.001 -0.104 -90.06° +chair 0.385 0.706 0.391 0.576 -0.002 -1.206 -54.73° +floor 3.832 -0.004 4.629 0.000 -0.000 0.034 -0.11° +_scene_ 0.100 -0.004 0.105 -5.578 -0.001 -5.637 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.457, -0.004, 0.432] + !! OVERLAP: table <-> chair depth=[0.504, 0.723, 0.512] + !! OVERLAP: table <-> chair depth=[0.569, 0.721, 0.591] + !! OVERLAP: table <-> floor depth=[2.479, -0.004, 0.929] + !! OVERLAP: chair <-> floor depth=[0.504, -0.004, 0.512] + !! OVERLAP: chair <-> floor depth=[0.515, -0.004, 0.510] + !! OVERLAP: chair <-> floor depth=[0.592, -0.004, 0.531] + !! OVERLAP: chair <-> floor depth=[0.569, -0.004, 0.591] + !! OVERLAP: chair <-> floor depth=[0.385, -0.004, 0.391] +============================================================ + + +============================================================ +SCENE: DiningRoom-17995 | 9 objects +============================================================ +Final Step Collision Loss: 0.0456, Room Outer Loss: 0.0000, Walkable Loss: 1.6478 (Center Penalty: 2.0827, C1 Heatmap: 0.4328, C2 Repulsion: 4.3327), Relational Loss: 0.0277 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.885 1.461 0.292 1.771 0.000 1.609 -179.96° +table 1.632 0.746 0.991 -1.078 -0.002 -0.779 0.02° +chair 0.487 0.943 0.567 -1.574 0.002 -1.392 0.04° +chair 0.494 0.921 0.603 -0.451 0.002 -1.149 0.09° +chair 0.471 0.881 0.464 -1.908 0.004 -0.103 133.90° +chair 0.528 0.904 0.582 -0.456 0.003 -0.024 -148.64° +lamp 1.265 0.783 0.732 -0.551 1.909 -0.441 -0.03° +floor 4.575 0.002 3.984 0.091 -0.000 -0.147 -0.02° +_scene_ 0.072 0.001 0.023 -5.673 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.885, 0.002, 0.292] + !! OVERLAP: table <-> chair depth=[0.487, 0.746, 0.166] + !! OVERLAP: table <-> chair depth=[0.436, 0.746, 0.428] + !! OVERLAP: table <-> chair depth=[0.222, 0.746, 0.051] + !! OVERLAP: table <-> chair depth=[0.458, 0.746, 0.031] + !! OVERLAP: table <-> floor depth=[1.632, 0.002, 0.991] + !! OVERLAP: chair <-> floor depth=[0.487, 0.002, 0.567] + !! OVERLAP: chair <-> floor depth=[0.494, 0.002, 0.603] + !! OVERLAP: chair <-> floor depth=[0.471, 0.002, 0.464] + !! OVERLAP: chair <-> floor depth=[0.528, 0.002, 0.582] +============================================================ + + +============================================================ +SCENE: DiningRoom-16628 | 10 objects +============================================================ +Final Step Collision Loss: 0.0287, Room Outer Loss: 0.0000, Walkable Loss: 2.8248 (Center Penalty: 3.7284, C1 Heatmap: 0.4723, C2 Repulsion: 7.7172), Relational Loss: 0.0149 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.344 0.729 1.375 -0.185 0.001 0.359 90.02° +chair 0.525 0.805 0.600 0.844 0.003 -0.370 -90.03° +chair 0.509 0.814 0.613 0.820 0.001 0.329 -89.85° +chair 0.501 0.792 0.520 -0.102 0.001 1.269 -180.00° +chair 0.488 0.763 0.496 -0.771 -0.000 0.462 90.05° +chair 0.556 0.791 0.601 -0.718 0.002 -0.135 89.79° +chair 0.573 0.820 0.574 -0.027 0.001 -1.130 -0.05° +lamp 1.098 0.782 1.052 -0.090 2.150 0.199 -179.98° +floor 3.230 -0.005 3.958 -0.030 0.000 0.059 -0.06° +_scene_ 0.061 -0.000 0.060 -5.643 -0.005 -5.695 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.501, 0.729, 0.037] + !! OVERLAP: table <-> chair depth=[0.330, 0.729, 0.496] + !! OVERLAP: table <-> chair depth=[0.417, 0.729, 0.494] + !! OVERLAP: table <-> floor depth=[1.344, -0.005, 1.375] + !! OVERLAP: chair <-> floor depth=[0.525, -0.005, 0.600] + !! OVERLAP: chair <-> floor depth=[0.509, -0.005, 0.613] + !! OVERLAP: chair <-> floor depth=[0.501, -0.005, 0.520] + !! OVERLAP: chair <-> floor depth=[0.488, -0.005, 0.496] + !! OVERLAP: chair <-> floor depth=[0.556, -0.005, 0.601] + !! OVERLAP: chair <-> floor depth=[0.573, -0.005, 0.574] +============================================================ + + +============================================================ +SCENE: DiningRoom-11628 | 11 objects +============================================================ +Final Step Collision Loss: 0.0024, Room Outer Loss: 0.0000, Walkable Loss: 1.7762 (Center Penalty: 1.9882, C1 Heatmap: 0.3648, C2 Repulsion: 6.3619), Relational Loss: 0.0103 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.250 0.836 0.897 0.787 -0.000 0.926 0.02° +chair 0.517 0.803 0.566 0.425 0.002 0.176 -0.01° +chair 0.504 0.824 0.540 0.965 0.002 0.059 0.01° +chair 0.542 0.809 0.516 0.865 0.004 1.794 179.97° +chair 0.513 0.814 0.523 0.455 0.001 1.632 179.93° +bookshelf 0.975 1.216 0.401 -0.741 0.000 0.937 90.07° +lamp 0.787 0.988 0.783 0.573 1.804 0.805 -0.08° +lamp 0.499 0.269 0.488 -1.273 2.358 -2.015 -0.07° +lamp 0.814 0.504 0.218 0.609 1.914 -1.552 0.01° +floor 3.362 -0.004 5.063 -0.036 0.001 0.179 -0.03° +_scene_ 0.063 0.001 0.019 -5.670 -0.005 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.513, 0.814, 0.004] + !! OVERLAP: table <-> floor depth=[1.250, -0.004, 0.897] + !! OVERLAP: chair <-> floor depth=[0.517, -0.004, 0.566] + !! OVERLAP: chair <-> floor depth=[0.504, -0.004, 0.540] + !! OVERLAP: chair <-> chair depth=[0.117, 0.808, 0.358] + !! OVERLAP: chair <-> floor depth=[0.542, -0.004, 0.516] + !! OVERLAP: chair <-> floor depth=[0.513, -0.004, 0.523] + !! OVERLAP: bookshelf <-> floor depth=[0.975, -0.004, 0.401] +============================================================ + + +============================================================ +SCENE: DiningRoom-29864 | 11 objects +============================================================ +Final Step Collision Loss: 0.0195, Room Outer Loss: 0.0000, Walkable Loss: 1.1495 (Center Penalty: 0.9447, C1 Heatmap: 0.3596, C2 Repulsion: 5.3330), Relational Loss: 0.0106 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.227 0.710 1.022 1.229 -0.001 -3.085 89.97° +chair 0.471 0.900 0.505 0.325 0.002 -3.041 89.84° +lamp 0.762 1.135 0.837 0.733 1.726 -2.783 -89.90° +chair 0.451 1.006 0.533 1.472 0.001 -3.050 -90.18° +chair 0.523 0.930 0.492 0.211 0.001 -2.282 89.97° +chair 0.414 0.923 0.513 1.425 0.001 -2.288 -90.04° +table 1.620 1.099 0.398 -0.977 0.003 0.331 0.01° +shelf 0.978 1.985 0.419 -0.470 -0.003 -1.295 0.06° +lamp 0.276 0.403 0.281 0.238 2.483 1.050 -0.14° +floor 3.804 -0.003 8.092 -0.046 -0.002 -0.443 -0.10° +_scene_ 0.072 0.000 0.018 -5.679 -0.004 -5.712 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.451, 0.710, 0.533] + !! OVERLAP: table <-> floor depth=[1.227, -0.003, 1.022] + !! OVERLAP: chair <-> floor depth=[0.471, -0.003, 0.505] + !! OVERLAP: chair <-> floor depth=[0.451, -0.003, 0.533] + !! OVERLAP: chair <-> floor depth=[0.523, -0.003, 0.492] + !! OVERLAP: chair <-> floor depth=[0.414, -0.003, 0.513] + !! OVERLAP: table <-> floor depth=[1.620, -0.003, 0.398] + !! OVERLAP: shelf <-> floor depth=[0.978, -0.003, 0.419] +============================================================ + + +============================================================ +SCENE: DiningRoom-2817 | 9 objects +============================================================ +Final Step Collision Loss: 0.0201, Room Outer Loss: 0.2780, Walkable Loss: 2.6162 (Center Penalty: 3.9721, C1 Heatmap: 0.4239, C2 Repulsion: 4.6056), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.689 0.754 1.053 -0.062 -0.001 0.344 -0.00° +chair 0.322 0.458 0.353 -0.271 -0.000 -0.568 -0.02° +chair 0.365 0.472 0.366 0.622 0.001 -0.453 0.01° +chair 0.289 0.555 0.299 -0.232 0.004 0.894 179.90° +chair 0.447 0.587 0.423 0.675 0.002 0.718 179.86° +cabinet 1.244 1.191 0.446 -1.626 0.000 -0.278 89.92° +lamp 1.978 0.957 0.451 0.097 1.831 0.016 -0.03° +floor 3.812 -0.003 3.555 -0.096 0.000 -0.004 -0.03° +_scene_ 0.071 0.000 0.022 -5.669 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.289, 0.555, 0.126] + !! OVERLAP: table <-> chair depth=[0.331, 0.587, 0.363] + !! OVERLAP: table <-> floor depth=[1.689, -0.003, 1.053] + !! OVERLAP: chair <-> floor depth=[0.322, -0.003, 0.353] + !! OVERLAP: chair <-> floor depth=[0.365, -0.003, 0.366] + !! OVERLAP: chair <-> floor depth=[0.289, -0.003, 0.299] + !! OVERLAP: chair <-> floor depth=[0.447, -0.003, 0.423] + !! OVERLAP: cabinet <-> floor depth=[0.998, -0.003, 0.446] +============================================================ + + +============================================================ +SCENE: DiningRoom-35065 | 9 objects +============================================================ +Final Step Collision Loss: 0.0274, Room Outer Loss: 0.2733, Walkable Loss: 2.5927 (Center Penalty: 3.7048, C1 Heatmap: 0.4177, C2 Repulsion: 5.7318), Relational Loss: 0.0403 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.852 2.013 0.336 1.371 0.002 1.046 -90.15° +lamp 0.531 0.927 0.528 -0.519 1.719 -0.029 -0.02° +chair 0.502 0.812 0.547 0.448 0.001 -0.429 0.00° +chair 0.531 0.772 0.544 -0.536 -0.000 -0.472 0.04° +table 1.335 0.749 1.149 -0.014 0.000 0.200 179.97° +chair 0.518 0.824 0.529 -0.372 0.001 0.923 179.92° +chair 0.453 0.820 0.503 0.217 0.004 0.931 180.00° +floor 3.431 -0.001 2.377 -0.080 -0.000 0.032 -0.03° +_scene_ 0.073 0.001 0.028 -5.672 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.691, -0.001, 0.336] + !! OVERLAP: chair <-> table depth=[0.456, 0.749, 0.219] + !! OVERLAP: chair <-> floor depth=[0.502, -0.001, 0.547] + !! OVERLAP: chair <-> table depth=[0.411, 0.749, 0.174] + !! OVERLAP: chair <-> floor depth=[0.531, -0.001, 0.544] + !! OVERLAP: table <-> chair depth=[0.518, 0.749, 0.116] + !! OVERLAP: table <-> chair depth=[0.453, 0.749, 0.095] + !! OVERLAP: table <-> floor depth=[1.335, -0.001, 1.149] + !! OVERLAP: chair <-> floor depth=[0.518, -0.001, 0.529] + !! OVERLAP: chair <-> floor depth=[0.453, -0.001, 0.503] +============================================================ + + +============================================================ +SCENE: DiningRoom-88173 | 13 objects +============================================================ +Final Step Collision Loss: 0.1089, Room Outer Loss: 0.0000, Walkable Loss: 4.4032 (Center Penalty: 4.5935, C1 Heatmap: 0.9134, C2 Repulsion: 17.4108), Relational Loss: 0.0262 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.997 0.806 0.246 0.101 1.736 -0.252 0.10° +table 1.495 0.613 1.470 -0.235 -0.001 0.017 0.06° +chair 0.577 1.013 0.605 0.678 -0.001 0.323 -97.91° +chair 1.092 1.085 0.636 -0.051 0.001 1.478 -179.95° +chair 0.625 1.034 0.682 0.688 0.003 -0.116 -98.66° +chair 0.522 1.067 0.574 0.505 -0.001 -0.721 -75.32° +chair 0.563 1.080 0.709 -0.746 -0.004 0.366 117.03° +chair 0.679 1.061 0.873 -0.804 0.003 -0.124 75.60° +chair 0.674 1.029 0.748 -0.754 0.000 -0.419 89.97° +chair 0.713 1.020 0.744 -0.244 0.000 -1.496 0.03° +table 1.382 0.658 0.325 -0.118 0.002 -2.108 -0.02° +floor 2.641 -0.001 5.803 -0.020 -0.002 -0.067 0.05° +_scene_ 0.123 -0.009 0.107 -5.609 -0.004 -5.669 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.123, 0.613, 0.605] + !! OVERLAP: table <-> chair depth=[0.136, 0.613, 0.682] + !! OVERLAP: table <-> chair depth=[0.268, 0.613, 0.284] + !! OVERLAP: table <-> chair depth=[0.518, 0.613, 0.709] + !! OVERLAP: table <-> chair depth=[0.518, 0.613, 0.873] + !! OVERLAP: table <-> chair depth=[0.565, 0.613, 0.673] + !! OVERLAP: table <-> floor depth=[1.495, -0.001, 1.470] + !! OVERLAP: chair <-> chair depth=[0.577, 1.013, 0.204] + !! OVERLAP: chair <-> floor depth=[0.577, -0.001, 0.605] + !! OVERLAP: chair <-> floor depth=[1.092, -0.001, 0.636] + !! OVERLAP: chair <-> chair depth=[0.391, 1.034, 0.023] + !! OVERLAP: chair <-> floor depth=[0.625, -0.001, 0.682] + !! OVERLAP: chair <-> floor depth=[0.522, -0.001, 0.574] + !! OVERLAP: chair <-> chair depth=[0.563, 1.061, 0.301] + !! OVERLAP: chair <-> floor depth=[0.563, -0.001, 0.709] + !! OVERLAP: chair <-> chair depth=[0.627, 1.029, 0.515] + !! OVERLAP: chair <-> floor depth=[0.679, -0.001, 0.873] + !! OVERLAP: chair <-> floor depth=[0.674, -0.001, 0.748] + !! OVERLAP: chair <-> floor depth=[0.713, -0.001, 0.744] + !! OVERLAP: table <-> floor depth=[1.382, -0.001, 0.325] +============================================================ + + +============================================================ +SCENE: DiningRoom-35093 | 9 objects +============================================================ +Final Step Collision Loss: 0.0319, Room Outer Loss: 0.0000, Walkable Loss: 2.4554 (Center Penalty: 3.4278, C1 Heatmap: 0.4511, C2 Repulsion: 5.6111), Relational Loss: 0.0172 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.340 0.809 1.427 0.208 0.002 -0.413 0.06° +chair 0.494 1.015 0.542 -0.689 0.000 0.538 -179.95° +chair 0.546 0.888 0.573 0.250 0.002 0.651 179.73° +chair 0.490 0.832 0.528 1.205 0.002 0.513 -179.98° +chair 0.609 0.834 0.653 1.061 0.001 -0.714 0.02° +chair 0.448 0.847 0.512 0.029 0.002 -0.936 0.05° +lamp 0.606 1.011 0.587 0.138 1.553 -0.193 0.01° +floor 3.908 -0.006 2.725 0.018 -0.000 0.072 -0.05° +_scene_ 0.063 0.002 0.016 -5.671 -0.005 -5.707 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.021, 0.809, 0.034] + !! OVERLAP: table <-> chair depth=[0.121, 0.809, 0.653] + !! OVERLAP: table <-> chair depth=[0.448, 0.809, 0.446] + !! OVERLAP: table <-> floor depth=[1.340, -0.006, 1.427] + !! OVERLAP: chair <-> floor depth=[0.494, -0.006, 0.542] + !! OVERLAP: chair <-> floor depth=[0.546, -0.006, 0.573] + !! OVERLAP: chair <-> floor depth=[0.490, -0.006, 0.528] + !! OVERLAP: chair <-> floor depth=[0.609, -0.006, 0.653] + !! OVERLAP: chair <-> floor depth=[0.448, -0.006, 0.512] +============================================================ + + +============================================================ +SCENE: DiningRoom-10302 | 11 objects +============================================================ +Final Step Collision Loss: 0.0523, Room Outer Loss: 0.0203, Walkable Loss: 1.8189 (Center Penalty: 1.8447, C1 Heatmap: 0.6080, C2 Repulsion: 6.5334), Relational Loss: 0.0110 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.468 0.475 0.459 -0.990 0.002 0.867 179.93° +shelf 0.414 0.847 0.249 -1.111 -0.001 -1.172 0.10° +chair 0.514 0.861 0.533 1.695 0.004 0.974 179.95° +chair 0.505 0.863 0.569 0.915 0.001 1.072 179.96° +chair 0.511 0.854 0.598 1.433 0.002 -0.359 0.06° +chair 0.488 0.835 0.584 0.925 0.001 -0.288 0.02° +table 2.081 0.851 1.065 0.829 -0.000 0.315 -90.25° +lamp 0.484 0.798 0.203 1.414 1.877 0.793 -0.01° +lamp 0.579 0.825 0.571 0.540 1.764 -0.501 -0.01° +floor 3.980 -0.002 3.536 -0.095 0.000 0.021 -0.04° +_scene_ 0.066 0.001 0.018 -5.666 -0.003 -5.714 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.468, -0.002, 0.459] + !! OVERLAP: shelf <-> floor depth=[0.414, -0.002, 0.249] + !! OVERLAP: chair <-> table depth=[0.431, 0.851, 0.140] + !! OVERLAP: chair <-> floor depth=[0.456, -0.002, 0.533] + !! OVERLAP: chair <-> table depth=[0.505, 0.851, 0.060] + !! OVERLAP: chair <-> floor depth=[0.505, -0.002, 0.569] + !! OVERLAP: chair <-> table depth=[0.511, 0.851, 0.156] + !! OVERLAP: chair <-> floor depth=[0.511, -0.002, 0.598] + !! OVERLAP: chair <-> table depth=[0.488, 0.835, 0.221] + !! OVERLAP: chair <-> floor depth=[0.488, -0.002, 0.584] + !! OVERLAP: table <-> floor depth=[2.081, -0.002, 1.065] +============================================================ + + +============================================================ +SCENE: DiningRoom-113004 | 9 objects +============================================================ +Final Step Collision Loss: 0.0149, Room Outer Loss: 0.0000, Walkable Loss: 1.9622 (Center Penalty: 2.4495, C1 Heatmap: 0.5709, C2 Repulsion: 5.0903), Relational Loss: 0.0484 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.097 0.713 0.704 -0.292 0.001 0.669 -0.01° +chair 0.503 0.846 0.533 -0.848 0.001 -0.075 -0.01° +chair 0.536 0.863 0.606 0.365 0.001 0.016 -0.02° +chair 0.473 0.824 0.487 -0.543 0.006 1.329 -179.90° +chair 0.492 0.843 0.557 0.275 0.001 1.197 179.97° +table 1.509 0.826 0.612 -0.486 0.002 -1.515 -0.01° +lamp 1.103 0.596 1.152 0.025 2.102 1.065 0.01° +floor 3.311 0.001 3.794 -0.055 0.002 -0.024 0.03° +_scene_ 0.072 0.003 0.022 -5.663 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.536, 0.713, 0.002] + !! OVERLAP: table <-> chair depth=[0.492, 0.713, 0.103] + !! OVERLAP: table <-> floor depth=[2.097, 0.001, 0.704] + !! OVERLAP: chair <-> floor depth=[0.503, 0.001, 0.533] + !! OVERLAP: chair <-> floor depth=[0.536, 0.001, 0.606] + !! OVERLAP: chair <-> floor depth=[0.473, 0.001, 0.487] + !! OVERLAP: chair <-> floor depth=[0.492, 0.001, 0.557] + !! OVERLAP: table <-> floor depth=[1.509, 0.001, 0.612] +============================================================ + + +============================================================ +SCENE: DiningRoom-22384 | 8 objects +============================================================ +Final Step Collision Loss: 0.0464, Room Outer Loss: 0.0000, Walkable Loss: 1.7733 (Center Penalty: 2.2534, C1 Heatmap: 0.4386, C2 Repulsion: 4.7121), Relational Loss: 0.0310 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.805 0.776 1.025 0.532 -0.000 -0.386 -0.08° +lamp 1.114 0.854 0.998 0.689 1.874 -0.875 77.15° +chair 0.570 1.048 0.649 -0.153 0.002 -1.226 89.93° +chair 0.547 1.025 0.660 -0.383 0.000 -0.145 89.96° +chair 0.506 1.028 0.568 1.441 -0.000 -1.020 -84.37° +chair 0.448 1.004 0.476 1.414 0.001 -0.223 -89.83° +floor 3.349 0.002 3.555 0.029 0.003 -0.088 0.05° +_scene_ 0.062 0.000 0.022 -5.666 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.262, 0.776, 0.602] + !! OVERLAP: table <-> chair depth=[0.247, 0.776, 0.162] + !! OVERLAP: table <-> chair depth=[0.244, 0.776, 0.476] + !! OVERLAP: table <-> floor depth=[1.805, 0.002, 1.025] + !! OVERLAP: chair <-> floor depth=[0.570, 0.002, 0.649] + !! OVERLAP: chair <-> floor depth=[0.547, 0.002, 0.660] + !! OVERLAP: chair <-> floor depth=[0.506, 0.002, 0.568] + !! OVERLAP: chair <-> floor depth=[0.448, 0.002, 0.476] +============================================================ + + +============================================================ +SCENE: DiningRoom-11145 | 9 objects +============================================================ +Final Step Collision Loss: 0.0464, Room Outer Loss: 0.0000, Walkable Loss: 2.8074 (Center Penalty: 3.9176, C1 Heatmap: 0.5064, C2 Repulsion: 6.4607), Relational Loss: 0.0294 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.434 0.742 1.032 -0.142 -0.000 -0.751 0.00° +chair 0.498 0.930 0.559 0.454 0.000 0.007 -179.93° +chair 0.545 0.864 0.545 -0.394 0.000 0.137 -179.97° +chair 0.554 0.888 0.625 0.510 0.001 -1.097 0.05° +chair 0.504 0.927 0.554 -0.361 0.000 -1.094 0.04° +table 1.556 1.332 0.467 0.152 0.003 1.286 -179.89° +lamp 0.940 0.996 0.854 0.055 1.798 -0.286 -0.00° +floor 2.588 -0.004 2.967 -0.005 0.001 0.008 -0.04° +_scene_ 0.058 0.000 0.019 -5.666 -0.005 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.371, 0.742, 0.038] + !! OVERLAP: table <-> chair depth=[0.342, 0.742, 0.483] + !! OVERLAP: table <-> chair depth=[0.504, 0.742, 0.451] + !! OVERLAP: table <-> floor depth=[1.434, -0.004, 1.032] + !! OVERLAP: chair <-> floor depth=[0.498, -0.004, 0.559] + !! OVERLAP: chair <-> floor depth=[0.545, -0.004, 0.545] + !! OVERLAP: chair <-> floor depth=[0.554, -0.004, 0.625] + !! OVERLAP: chair <-> floor depth=[0.504, -0.004, 0.554] + !! OVERLAP: table <-> floor depth=[1.556, -0.004, 0.439] +============================================================ + + +============================================================ +SCENE: DiningRoom-10559 | 12 objects +============================================================ +Final Step Collision Loss: 0.0232, Room Outer Loss: 0.0000, Walkable Loss: 1.7958 (Center Penalty: 1.6342, C1 Heatmap: 0.8180, C2 Repulsion: 6.5148), Relational Loss: 0.0172 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.064 0.750 0.954 0.974 -0.001 -0.891 -0.06° +chair 0.653 0.956 0.563 1.631 0.001 -1.637 -0.03° +chair 0.559 0.885 0.612 0.693 0.001 -0.352 179.98° +cabinet 1.734 2.091 0.463 0.733 0.002 1.275 -179.96° +chair 0.562 0.960 0.595 1.906 0.000 -0.666 179.97° +chair 0.594 1.019 0.572 0.769 0.001 -1.590 0.03° +lamp 0.559 0.407 0.493 0.323 2.173 -0.661 0.03° +cabinet 1.364 1.728 0.360 -2.338 -0.004 -0.941 0.00° +tv_stand 1.575 0.337 0.261 -2.373 0.002 1.428 179.92° +chair 0.444 0.548 0.436 -0.398 -0.002 0.775 179.86° +floor 5.919 -0.001 3.717 -0.186 0.001 -0.234 0.03° +_scene_ 0.070 0.000 0.022 -5.668 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.653, 0.750, 0.013] + !! OVERLAP: table <-> chair depth=[0.559, 0.750, 0.243] + !! OVERLAP: table <-> chair depth=[0.381, 0.750, 0.549] + !! OVERLAP: table <-> chair depth=[0.594, 0.750, 0.065] + !! OVERLAP: table <-> floor depth=[2.064, -0.001, 0.954] + !! OVERLAP: chair <-> floor depth=[0.653, -0.001, 0.563] + !! OVERLAP: chair <-> floor depth=[0.559, -0.001, 0.612] + !! OVERLAP: cabinet <-> floor depth=[1.734, -0.001, 0.463] + !! OVERLAP: chair <-> floor depth=[0.562, -0.001, 0.595] + !! OVERLAP: chair <-> floor depth=[0.594, -0.001, 0.572] + !! OVERLAP: cabinet <-> floor depth=[1.364, -0.001, 0.360] + !! OVERLAP: tv_stand <-> floor depth=[1.560, -0.001, 0.261] + !! OVERLAP: chair <-> floor depth=[0.444, -0.001, 0.436] +============================================================ + + +============================================================ +SCENE: DiningRoom-85692 | 8 objects +============================================================ +Final Step Collision Loss: 0.0668, Room Outer Loss: 0.0000, Walkable Loss: 1.9238 (Center Penalty: 2.5569, C1 Heatmap: 0.4442, C2 Repulsion: 4.6770), Relational Loss: 0.0323 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.585 0.762 1.487 -0.549 -0.001 -0.103 89.89° +chair 0.469 0.741 0.514 0.801 0.008 0.421 -90.37° +chair 0.449 0.793 0.497 0.921 0.004 -0.232 -90.06° +chair 0.454 0.777 0.480 -1.000 -0.001 0.423 90.09° +chair 0.394 0.708 0.415 -0.996 -0.001 -0.231 87.07° +lamp 0.685 0.974 0.654 0.549 1.878 -0.564 -0.05° +floor 3.897 -0.003 2.882 0.007 0.001 -0.021 -0.05° +_scene_ 0.073 0.001 0.019 -5.652 -0.004 -5.691 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.454, 0.762, 0.458] + !! OVERLAP: table <-> chair depth=[0.394, 0.708, 0.415] + !! OVERLAP: table <-> floor depth=[1.585, -0.003, 1.487] + !! OVERLAP: chair <-> floor depth=[0.469, -0.003, 0.514] + !! OVERLAP: chair <-> floor depth=[0.449, -0.003, 0.497] + !! OVERLAP: chair <-> floor depth=[0.454, -0.003, 0.480] + !! OVERLAP: chair <-> floor depth=[0.394, -0.003, 0.415] +============================================================ + + +============================================================ +SCENE: DiningRoom-12866 | 10 objects +============================================================ +Final Step Collision Loss: 0.0405, Room Outer Loss: 0.0000, Walkable Loss: 2.0729 (Center Penalty: 2.3782, C1 Heatmap: 0.6067, C2 Repulsion: 6.4116), Relational Loss: 0.0198 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.744 1.037 0.629 -0.500 0.002 -1.388 68.01° +chair 0.605 1.022 0.657 -0.524 -0.000 -0.388 89.94° +chair 0.554 1.001 0.623 0.923 0.001 -0.273 -89.97° +chair 0.512 1.043 0.658 1.033 -0.001 -1.066 -90.06° +table 1.356 0.718 1.267 0.093 -0.001 -0.683 0.02° +table 1.724 0.825 0.444 -0.191 0.000 1.514 179.84° +chair 0.477 0.562 0.465 1.220 0.000 0.961 -90.08° +lamp 1.089 0.839 1.099 0.017 1.757 -0.712 -0.03° +floor 3.310 -0.003 3.744 0.028 0.001 -0.009 0.02° +_scene_ 0.065 0.003 0.022 -5.667 -0.004 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.457, 0.718, 0.243] + !! OVERLAP: chair <-> floor depth=[0.744, -0.003, 0.629] + !! OVERLAP: chair <-> table depth=[0.363, 0.718, 0.657] + !! OVERLAP: chair <-> floor depth=[0.605, -0.003, 0.657] + !! OVERLAP: chair <-> table depth=[0.125, 0.718, 0.534] + !! OVERLAP: chair <-> floor depth=[0.554, -0.003, 0.623] + !! OVERLAP: chair <-> floor depth=[0.512, -0.003, 0.658] + !! OVERLAP: table <-> floor depth=[1.356, -0.003, 1.267] + !! OVERLAP: table <-> floor depth=[1.724, -0.003, 0.444] + !! OVERLAP: chair <-> floor depth=[0.477, -0.003, 0.465] +============================================================ + + +============================================================ +SCENE: DiningRoom-9824 | 10 objects +============================================================ +Final Step Collision Loss: 0.0422, Room Outer Loss: 0.0000, Walkable Loss: 2.1808 (Center Penalty: 2.9714, C1 Heatmap: 0.5083, C2 Repulsion: 4.9181), Relational Loss: 0.0212 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.908 0.938 0.283 0.717 0.000 -1.494 0.01° +table 2.469 0.721 1.014 0.134 0.002 0.712 179.94° +chair 0.348 0.484 0.340 -0.970 0.000 0.003 90.04° +chair 0.338 0.504 0.390 0.223 0.001 0.083 -0.01° +chair 0.382 0.515 0.427 0.273 -0.000 1.100 -179.96° +chair 0.414 0.549 0.340 -0.639 -0.000 1.016 112.34° +chair 0.365 0.586 0.432 0.994 0.001 0.503 -89.96° +lamp 1.692 0.630 1.862 -0.031 2.296 0.722 0.10° +floor 3.558 -0.003 3.613 -0.029 -0.001 0.036 -0.03° +_scene_ 0.065 0.001 0.013 -5.668 -0.004 -5.715 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.908, -0.003, 0.283] + !! OVERLAP: table <-> chair depth=[0.338, 0.504, 0.074] + !! OVERLAP: table <-> chair depth=[0.382, 0.515, 0.332] + !! OVERLAP: table <-> chair depth=[0.414, 0.549, 0.340] + !! OVERLAP: table <-> chair depth=[0.365, 0.586, 0.432] + !! OVERLAP: table <-> floor depth=[2.469, -0.003, 1.014] + !! OVERLAP: chair <-> floor depth=[0.348, -0.003, 0.340] + !! OVERLAP: chair <-> floor depth=[0.338, -0.003, 0.390] + !! OVERLAP: chair <-> floor depth=[0.382, -0.003, 0.427] + !! OVERLAP: chair <-> floor depth=[0.414, -0.003, 0.340] + !! OVERLAP: chair <-> floor depth=[0.365, -0.003, 0.432] +============================================================ + + +============================================================ +SCENE: DiningRoom-88590 | 10 objects +============================================================ +Final Step Collision Loss: 0.0814, Room Outer Loss: 0.0000, Walkable Loss: 2.4601 (Center Penalty: 2.5422, C1 Heatmap: 0.8247, C2 Repulsion: 8.5913), Relational Loss: 0.0258 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.979 0.707 0.276 -0.769 1.950 0.387 -0.00° +chair 0.633 0.756 0.672 -0.879 0.002 -0.337 0.01° +chair 0.446 0.433 0.353 0.717 0.001 -1.334 -0.08° +chair 0.658 0.774 0.658 -0.183 0.001 -0.116 -0.01° +cabinet 1.759 1.932 0.326 -2.011 0.005 0.140 89.89° +table 2.240 0.743 1.476 -0.989 0.007 0.560 89.92° +chair 0.563 0.769 0.522 0.146 0.002 0.844 -130.05° +chair 0.579 0.760 0.573 -0.677 0.000 1.303 179.87° +floor 5.633 -0.003 3.942 -0.160 0.000 -0.091 0.01° +_scene_ 0.065 -0.000 0.021 -5.668 -0.004 -5.717 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> cabinet depth=[0.064, 0.756, 0.022] + !! OVERLAP: chair <-> table depth=[0.633, 0.743, 0.177] + !! OVERLAP: chair <-> floor depth=[0.633, -0.003, 0.672] + !! OVERLAP: chair <-> floor depth=[0.446, -0.003, 0.353] + !! OVERLAP: chair <-> table depth=[0.643, 0.743, 0.391] + !! OVERLAP: chair <-> floor depth=[0.658, -0.003, 0.658] + !! OVERLAP: cabinet <-> table depth=[0.978, 0.743, 0.326] + !! OVERLAP: cabinet <-> floor depth=[1.759, -0.003, 0.326] + !! OVERLAP: table <-> chair depth=[0.267, 0.743, 0.522] + !! OVERLAP: table <-> chair depth=[0.579, 0.743, 0.282] + !! OVERLAP: table <-> floor depth=[2.240, -0.003, 1.476] + !! OVERLAP: chair <-> floor depth=[0.563, -0.003, 0.522] + !! OVERLAP: chair <-> floor depth=[0.579, -0.003, 0.573] +============================================================ + + +============================================================ +SCENE: DiningRoom-7217 | 8 objects +============================================================ +Final Step Collision Loss: 0.0094, Room Outer Loss: 0.0000, Walkable Loss: 2.6055 (Center Penalty: 3.7706, C1 Heatmap: 0.4436, C2 Repulsion: 5.4276), Relational Loss: 0.0356 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.698 0.738 0.882 -0.016 -0.000 0.062 -89.97° +chair 0.531 1.050 0.596 0.536 0.004 -0.523 -89.98° +chair 0.638 1.042 0.655 0.761 0.001 0.421 -90.02° +chair 0.583 0.956 0.609 -0.795 0.001 -0.256 90.08° +chair 0.688 1.049 0.724 -0.766 0.001 0.631 89.95° +lamp 0.734 1.122 0.769 0.066 1.658 0.194 89.92° +floor 2.497 0.001 3.105 -0.003 0.002 -0.019 -0.03° +_scene_ 0.066 0.005 0.020 -5.667 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.531, 0.738, 0.154] + !! OVERLAP: table <-> chair depth=[0.390, 0.738, 0.408] + !! OVERLAP: table <-> chair depth=[0.361, 0.738, 0.427] + !! OVERLAP: table <-> chair depth=[0.444, 0.738, 0.234] + !! OVERLAP: table <-> floor depth=[1.698, 0.001, 0.882] + !! OVERLAP: chair <-> floor depth=[0.531, 0.001, 0.596] + !! OVERLAP: chair <-> floor depth=[0.638, 0.001, 0.655] + !! OVERLAP: chair <-> floor depth=[0.583, 0.001, 0.609] + !! OVERLAP: chair <-> floor depth=[0.688, 0.001, 0.724] +============================================================ + + +============================================================ +SCENE: DiningRoom-19325 | 8 objects +============================================================ +Final Step Collision Loss: 0.0464, Room Outer Loss: 0.0000, Walkable Loss: 2.5692 (Center Penalty: 3.8526, C1 Heatmap: 0.4117, C2 Repulsion: 4.7819), Relational Loss: 0.0391 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.640 0.752 0.998 -0.198 0.002 -0.354 0.02° +chair 0.569 0.993 0.604 -0.812 -0.000 0.435 179.96° +chair 0.537 0.978 0.570 -0.935 0.000 -0.816 0.02° +chair 0.499 1.028 0.584 0.097 0.003 0.408 179.89° +chair 0.553 0.931 0.554 0.262 0.001 -0.998 -0.03° +lamp 0.334 0.996 0.291 -0.069 1.642 -0.146 -0.01° +floor 2.951 -0.005 2.373 -0.066 0.000 0.068 -0.03° +_scene_ 0.071 0.001 0.027 -5.669 -0.004 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.490, 0.752, 0.012] + !! OVERLAP: table <-> chair depth=[0.351, 0.752, 0.322] + !! OVERLAP: table <-> chair depth=[0.499, 0.752, 0.029] + !! OVERLAP: table <-> chair depth=[0.553, 0.752, 0.132] + !! OVERLAP: table <-> floor depth=[1.640, -0.005, 0.998] + !! OVERLAP: chair <-> floor depth=[0.569, -0.005, 0.604] + !! OVERLAP: chair <-> floor depth=[0.537, -0.005, 0.570] + !! OVERLAP: chair <-> floor depth=[0.499, -0.005, 0.584] + !! OVERLAP: chair <-> floor depth=[0.553, -0.005, 0.398] +============================================================ + + +============================================================ +SCENE: DiningRoom-27933 | 8 objects +============================================================ +Final Step Collision Loss: 0.0070, Room Outer Loss: 0.0609, Walkable Loss: 2.6635 (Center Penalty: 4.1445, C1 Heatmap: 0.3806, C2 Repulsion: 4.3903), Relational Loss: 0.0253 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.102 0.717 0.883 0.095 -0.001 0.057 90.01° +chair 0.395 0.657 0.417 0.789 -0.000 0.558 -89.81° +chair 0.381 0.684 0.400 0.845 0.001 -0.282 -90.00° +chair 0.385 0.659 0.385 -0.454 -0.000 0.572 90.03° +chair 0.455 0.530 0.428 -0.543 -0.000 -0.229 90.10° +lamp 0.656 0.828 0.619 0.213 1.956 -0.136 90.08° +floor 2.210 -0.000 2.341 -0.007 0.000 -0.033 -0.02° +_scene_ 0.072 0.001 0.024 -5.667 -0.003 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.395, 0.657, 0.149] + !! OVERLAP: table <-> chair depth=[0.381, 0.684, 0.303] + !! OVERLAP: table <-> chair depth=[0.385, 0.659, 0.119] + !! OVERLAP: table <-> chair depth=[0.455, 0.530, 0.370] + !! OVERLAP: table <-> floor depth=[2.053, -0.000, 0.883] + !! OVERLAP: chair <-> floor depth=[0.395, -0.000, 0.417] + !! OVERLAP: chair <-> floor depth=[0.381, -0.000, 0.400] + !! OVERLAP: chair <-> floor depth=[0.385, -0.000, 0.385] + !! OVERLAP: chair <-> floor depth=[0.455, -0.000, 0.428] +============================================================ + + +============================================================ +SCENE: DiningRoom-9630 | 10 objects +============================================================ +Final Step Collision Loss: 0.0211, Room Outer Loss: 0.0086, Walkable Loss: 1.4853 (Center Penalty: 1.7842, C1 Heatmap: 0.4004, C2 Repulsion: 4.3308), Relational Loss: 0.0233 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.287 0.729 0.980 -0.487 -0.003 -1.091 -90.12° +chair 0.470 0.927 0.580 0.070 0.002 -0.547 -179.92° +chair 0.415 0.945 0.414 0.253 -0.004 -1.736 -32.88° +chair 0.492 0.986 0.524 -1.013 -0.002 -1.549 0.02° +chair 0.501 0.894 0.524 -1.082 -0.002 -0.376 142.09° +bookshelf 1.317 2.280 0.326 0.852 0.000 1.100 -90.22° +lamp 0.673 0.902 0.257 -0.006 1.743 1.234 -0.04° +lamp 0.673 1.181 0.632 -0.199 1.624 -1.209 -0.01° +floor 3.122 -0.004 4.566 -0.010 0.001 -0.023 -0.01° +_scene_ 0.066 0.000 0.017 -5.670 -0.006 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.323, 0.729, 0.237] + !! OVERLAP: table <-> chair depth=[0.111, 0.729, 0.052] + !! OVERLAP: table <-> chair depth=[0.364, 0.729, 0.294] + !! OVERLAP: table <-> chair depth=[0.298, 0.729, 0.038] + !! OVERLAP: table <-> floor depth=[1.287, -0.004, 0.980] + !! OVERLAP: chair <-> floor depth=[0.470, -0.004, 0.580] + !! OVERLAP: chair <-> floor depth=[0.415, -0.004, 0.414] + !! OVERLAP: chair <-> floor depth=[0.492, -0.004, 0.524] + !! OVERLAP: chair <-> floor depth=[0.501, -0.004, 0.524] + !! OVERLAP: bookshelf <-> floor depth=[1.317, -0.004, 0.326] +============================================================ + + +============================================================ +SCENE: DiningRoom-225770 | 8 objects +============================================================ +Final Step Collision Loss: 0.0257, Room Outer Loss: 0.0000, Walkable Loss: 1.9388 (Center Penalty: 2.4758, C1 Heatmap: 0.4452, C2 Repulsion: 5.2282), Relational Loss: 0.0537 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.509 0.946 0.535 -0.583 0.001 -0.926 0.03° +chair 0.577 0.962 0.580 0.713 -0.001 -0.389 -64.79° +chair 0.491 0.922 0.517 0.835 0.004 0.722 -134.89° +chair 0.543 0.977 0.572 -0.679 0.002 0.945 179.76° +chair 0.618 0.968 0.634 -1.364 0.009 -0.499 67.60° +table 1.711 0.768 0.956 -0.043 -0.000 -0.004 -0.05° +floor 4.035 0.002 5.030 0.075 0.002 0.128 0.06° +_scene_ 0.137 -0.003 0.178 -5.384 -0.002 -5.467 -57.77° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.509, 0.002, 0.535] + !! OVERLAP: chair <-> table depth=[0.389, 0.768, 0.383] + !! OVERLAP: chair <-> floor depth=[0.577, 0.002, 0.580] + !! OVERLAP: chair <-> table depth=[0.224, 0.768, 0.010] + !! OVERLAP: chair <-> floor depth=[0.491, 0.002, 0.517] + !! OVERLAP: chair <-> floor depth=[0.543, 0.002, 0.572] + !! OVERLAP: chair <-> floor depth=[0.618, 0.002, 0.634] + !! OVERLAP: table <-> floor depth=[1.711, 0.002, 0.956] +============================================================ + + +============================================================ +SCENE: DiningRoom-116178 | 11 objects +============================================================ +Final Step Collision Loss: 0.0170, Room Outer Loss: 0.0000, Walkable Loss: 1.2090 (Center Penalty: 0.7993, C1 Heatmap: 0.4955, C2 Repulsion: 6.1116), Relational Loss: 0.0388 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.570 0.778 0.617 -1.316 0.001 1.808 89.94° +chair 0.579 0.833 0.621 -1.015 -0.000 1.025 137.71° +chair 0.576 0.793 0.530 -0.215 0.004 1.180 -162.19° +chair 0.581 0.850 0.638 0.515 -0.000 1.170 -130.94° +chair 0.526 0.790 0.568 -1.137 0.001 -0.837 19.68° +chair 0.514 0.814 0.538 -0.348 -0.000 -1.106 -12.45° +chair 0.473 0.799 0.461 0.238 -0.004 -1.070 -40.13° +chair 0.555 0.801 0.577 1.089 0.001 -0.021 -77.24° +chair 0.586 0.833 0.592 -1.850 -0.000 0.244 89.95° +floor 5.246 -0.002 6.422 -0.642 -0.000 0.265 0.02° +_scene_ 1.047 0.381 1.778 -2.531 0.006 -2.797 -82.12° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.570, -0.002, 0.617] + !! OVERLAP: chair <-> floor depth=[0.579, -0.002, 0.621] + !! OVERLAP: chair <-> floor depth=[0.576, -0.002, 0.530] + !! OVERLAP: chair <-> floor depth=[0.581, -0.002, 0.638] + !! OVERLAP: chair <-> floor depth=[0.526, -0.002, 0.568] + !! OVERLAP: chair <-> floor depth=[0.514, -0.002, 0.538] + !! OVERLAP: chair <-> floor depth=[0.473, -0.002, 0.461] + !! OVERLAP: chair <-> floor depth=[0.555, -0.002, 0.577] + !! OVERLAP: chair <-> floor depth=[0.586, -0.002, 0.592] + !! OVERLAP: floor <-> _scene_ depth=[1.047, -0.002, 1.037] +============================================================ + + +============================================================ +SCENE: DiningRoom-22156 | 10 objects +============================================================ +Final Step Collision Loss: 0.0159, Room Outer Loss: 0.0000, Walkable Loss: 3.1249 (Center Penalty: 4.1020, C1 Heatmap: 0.4385, C2 Repulsion: 8.9852), Relational Loss: 0.0198 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.272 0.732 1.067 -0.078 -0.002 -0.042 90.01° +chair 0.540 0.944 0.570 -0.346 0.001 -0.865 0.05° +chair 0.592 0.884 0.615 0.204 0.000 -0.897 0.04° +chair 0.516 0.948 0.531 -0.366 -0.000 0.725 -180.00° +chair 0.470 0.896 0.552 0.222 0.001 0.715 179.93° +chair 0.587 1.004 0.587 -1.004 -0.000 -0.260 89.92° +chair 0.504 0.944 0.543 1.084 0.001 -0.048 -89.95° +lamp 0.687 1.132 0.479 -0.024 1.498 -0.154 0.05° +floor 3.194 -0.005 3.139 -0.030 0.001 0.026 -0.01° +_scene_ 0.067 -0.006 0.069 -5.596 0.003 -5.639 -57.42° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.516, 0.732, 0.032] + !! OVERLAP: table <-> chair depth=[0.470, 0.732, 0.053] + !! OVERLAP: table <-> chair depth=[0.004, 0.732, 0.587] + !! OVERLAP: table <-> floor depth=[1.272, -0.005, 1.067] + !! OVERLAP: chair <-> chair depth=[0.017, 0.884, 0.561] + !! OVERLAP: chair <-> floor depth=[0.540, -0.005, 0.570] + !! OVERLAP: chair <-> floor depth=[0.592, -0.005, 0.615] + !! OVERLAP: chair <-> floor depth=[0.516, -0.005, 0.531] + !! OVERLAP: chair <-> floor depth=[0.470, -0.005, 0.552] + !! OVERLAP: chair <-> floor depth=[0.587, -0.005, 0.587] + !! OVERLAP: chair <-> floor depth=[0.504, -0.005, 0.543] +============================================================ + + +============================================================ +SCENE: DiningRoom-22308 | 10 objects +============================================================ +Final Step Collision Loss: 0.0727, Room Outer Loss: 0.0000, Walkable Loss: 3.4178 (Center Penalty: 4.4379, C1 Heatmap: 0.5615, C2 Repulsion: 9.7426), Relational Loss: 0.0286 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.954 0.818 1.066 0.031 -0.001 -0.052 0.03° +chair 0.572 0.965 0.620 -0.604 0.004 0.618 89.98° +chair 0.510 0.963 0.525 0.675 0.001 0.444 -90.05° +chair 0.457 0.988 0.519 0.641 -0.000 -0.213 -80.30° +chair 0.493 0.943 0.584 -0.785 0.000 -0.195 89.76° +chair 0.539 0.965 0.588 0.064 0.001 1.117 179.92° +chair 0.566 0.977 0.617 -0.032 0.001 -1.045 0.02° +lamp 0.343 0.739 0.343 -0.057 2.093 0.004 0.04° +floor 2.699 0.002 3.761 -0.048 0.000 0.056 0.03° +_scene_ 0.075 -0.001 0.041 -5.649 -0.005 -5.690 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.572, 0.818, 0.173] + !! OVERLAP: table <-> chair depth=[0.510, 0.818, 0.299] + !! OVERLAP: table <-> chair depth=[0.457, 0.818, 0.519] + !! OVERLAP: table <-> chair depth=[0.407, 0.818, 0.584] + !! OVERLAP: table <-> floor depth=[1.954, 0.002, 1.066] + !! OVERLAP: chair <-> floor depth=[0.572, 0.002, 0.620] + !! OVERLAP: chair <-> floor depth=[0.510, 0.002, 0.525] + !! OVERLAP: chair <-> floor depth=[0.457, 0.002, 0.519] + !! OVERLAP: chair <-> floor depth=[0.493, 0.002, 0.584] + !! OVERLAP: chair <-> floor depth=[0.539, 0.002, 0.588] + !! OVERLAP: chair <-> floor depth=[0.566, 0.002, 0.617] +============================================================ + + +============================================================ +SCENE: DiningRoom-11336 | 10 objects +============================================================ +Final Step Collision Loss: 0.0627, Room Outer Loss: 0.0000, Walkable Loss: 3.2783 (Center Penalty: 4.2010, C1 Heatmap: 0.5051, C2 Repulsion: 9.7575), Relational Loss: 0.0315 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.610 0.764 0.961 -0.199 -0.001 -0.151 0.02° +chair 0.428 0.958 0.466 -0.945 -0.002 0.249 111.38° +chair 0.595 0.977 0.652 0.558 0.001 0.320 -90.01° +chair 0.575 1.013 0.536 0.594 0.002 -0.360 -79.27° +chair 0.643 0.959 0.636 -1.121 0.008 -0.290 60.46° +chair 0.592 0.892 0.555 -0.254 0.002 0.924 179.78° +chair 0.629 0.941 0.606 -0.295 -0.000 -1.073 0.06° +lamp 0.476 0.541 0.483 -0.075 2.244 -0.129 -0.04° +floor 2.659 -0.001 3.194 -0.012 -0.002 0.034 0.02° +_scene_ 0.072 -0.002 0.034 -5.656 -0.004 -5.698 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.274, 0.764, 0.314] + !! OVERLAP: table <-> chair depth=[0.346, 0.764, 0.336] + !! OVERLAP: table <-> chair depth=[0.300, 0.764, 0.536] + !! OVERLAP: table <-> chair depth=[0.205, 0.764, 0.636] + !! OVERLAP: table <-> floor depth=[1.610, -0.001, 0.961] + !! OVERLAP: chair <-> chair depth=[0.359, 0.948, 0.012] + !! OVERLAP: chair <-> floor depth=[0.428, -0.001, 0.466] + !! OVERLAP: chair <-> floor depth=[0.595, -0.001, 0.652] + !! OVERLAP: chair <-> floor depth=[0.575, -0.001, 0.536] + !! OVERLAP: chair <-> floor depth=[0.541, -0.001, 0.636] + !! OVERLAP: chair <-> floor depth=[0.592, -0.001, 0.555] + !! OVERLAP: chair <-> floor depth=[0.629, -0.001, 0.606] +============================================================ + + +============================================================ +SCENE: DiningRoom-6151 | 11 objects +============================================================ +Final Step Collision Loss: 0.0523, Room Outer Loss: 0.9687, Walkable Loss: 2.1251 (Center Penalty: 1.7709, C1 Heatmap: 0.9167, C2 Repulsion: 8.7294), Relational Loss: 0.0235 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.593 1.304 0.232 -1.658 0.000 -1.015 89.97° +chair 0.556 0.964 0.556 0.417 0.002 -1.030 0.04° +chair 0.542 0.992 0.573 1.338 0.001 -1.179 0.06° +chair 0.451 0.971 0.531 0.696 -0.001 0.648 179.94° +chair 0.502 0.945 0.497 1.528 0.004 0.570 179.88° +table 1.617 0.730 1.019 0.930 -0.002 -0.159 0.02° +table 1.766 0.830 0.648 -1.270 0.002 -0.633 89.90° +cabinet 2.655 2.050 0.402 -1.434 0.002 0.173 89.94° +lamp 0.841 0.813 0.834 0.566 2.266 -0.211 -0.02° +floor 4.174 -0.001 3.517 0.009 -0.000 0.028 -0.03° +_scene_ 0.070 -0.001 0.024 -5.671 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[1.292, 0.830, 0.058] + !! OVERLAP: table <-> floor depth=[1.217, -0.001, 0.232] + !! OVERLAP: chair <-> floor depth=[0.556, -0.001, 0.556] + !! OVERLAP: chair <-> floor depth=[0.542, -0.001, 0.573] + !! OVERLAP: chair <-> floor depth=[0.451, -0.001, 0.531] + !! OVERLAP: chair <-> table depth=[0.461, 0.730, 0.028] + !! OVERLAP: chair <-> floor depth=[0.502, -0.001, 0.497] + !! OVERLAP: table <-> floor depth=[1.617, -0.001, 1.019] + !! OVERLAP: table <-> floor depth=[1.691, -0.001, 0.648] + !! OVERLAP: cabinet <-> floor depth=[1.972, -0.001, 0.402] +============================================================ + + +============================================================ +SCENE: DiningRoom-663 | 10 objects +============================================================ +Final Step Collision Loss: 0.1616, Room Outer Loss: 0.0000, Walkable Loss: 2.5243 (Center Penalty: 3.6597, C1 Heatmap: 0.4998, C2 Repulsion: 4.9447), Relational Loss: 0.0367 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.726 0.754 1.444 0.364 -0.000 -0.273 89.99° +chair 0.426 0.888 0.500 0.704 0.000 0.701 -179.89° +chair 0.507 0.839 0.530 0.611 0.001 -0.719 0.09° +chair 0.541 0.850 0.585 -0.289 0.002 0.654 -179.99° +chair 0.556 0.800 0.565 -0.277 0.000 -0.736 0.02° +lamp 1.223 0.987 1.149 0.560 1.647 -0.858 0.07° +lamp 1.224 0.937 1.238 0.147 1.655 0.761 0.01° +lamp 1.517 0.937 1.411 0.567 1.612 -0.567 0.11° +floor 3.800 -0.004 2.864 0.027 0.001 0.025 -0.12° +_scene_ 0.067 -0.001 0.021 -5.671 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.507, 0.754, 0.530] + !! OVERLAP: table <-> chair depth=[0.481, 0.754, 0.087] + !! OVERLAP: table <-> chair depth=[0.500, 0.754, 0.541] + !! OVERLAP: table <-> floor depth=[1.726, -0.004, 1.444] + !! OVERLAP: chair <-> floor depth=[0.426, -0.004, 0.500] + !! OVERLAP: chair <-> floor depth=[0.507, -0.004, 0.530] + !! OVERLAP: chair <-> floor depth=[0.541, -0.004, 0.585] + !! OVERLAP: chair <-> floor depth=[0.556, -0.004, 0.565] + !! OVERLAP: lamp <-> lamp depth=[1.223, 0.927, 0.989] +============================================================ + + +============================================================ +SCENE: DiningRoom-2432 | 9 objects +============================================================ +Final Step Collision Loss: 0.0161, Room Outer Loss: 0.0059, Walkable Loss: 2.6272 (Center Penalty: 3.2804, C1 Heatmap: 0.5423, C2 Repulsion: 7.7009), Relational Loss: 0.0322 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.813 0.771 0.426 -0.352 0.002 1.321 -179.99° +table 1.427 0.764 1.059 -0.377 0.000 -0.024 179.98° +chair 0.521 0.889 0.563 -0.174 0.001 -0.973 0.01° +chair 0.469 0.876 0.526 -0.943 0.001 -0.974 0.01° +chair 0.452 0.916 0.496 -0.142 -0.000 0.584 -179.86° +chair 0.483 0.899 0.550 -0.995 -0.001 0.679 -179.99° +lamp 1.998 0.847 0.144 -0.236 1.937 -0.211 -0.08° +floor 2.702 0.001 3.705 -0.001 0.001 -0.033 -0.03° +_scene_ 0.064 0.006 0.019 -5.670 -0.006 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.813, 0.001, 0.426] + !! OVERLAP: table <-> chair depth=[0.452, 0.764, 0.170] + !! OVERLAP: table <-> chair depth=[0.337, 0.764, 0.102] + !! OVERLAP: table <-> floor depth=[1.427, 0.001, 1.059] + !! OVERLAP: chair <-> floor depth=[0.521, 0.001, 0.563] + !! OVERLAP: chair <-> floor depth=[0.469, 0.001, 0.526] + !! OVERLAP: chair <-> floor depth=[0.452, 0.001, 0.496] + !! OVERLAP: chair <-> floor depth=[0.483, 0.001, 0.550] +============================================================ + + +============================================================ +SCENE: DiningRoom-24272 | 8 objects +============================================================ +Final Step Collision Loss: 0.0255, Room Outer Loss: 0.0000, Walkable Loss: 2.2817 (Center Penalty: 3.2147, C1 Heatmap: 0.4411, C2 Repulsion: 4.9796), Relational Loss: 0.0569 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.501 0.800 1.211 0.459 0.002 0.177 0.05° +chair 0.648 0.969 0.656 -0.517 -0.004 -0.668 17.19° +chair 0.517 0.986 0.612 0.496 0.003 -0.702 0.04° +chair 0.557 0.937 0.615 -0.235 0.001 1.061 -179.98° +chair 0.439 0.949 0.535 0.608 0.001 0.952 -179.96° +lamp 0.915 0.966 0.938 0.131 1.814 -0.073 -0.01° +floor 2.949 -0.004 2.939 0.006 0.001 -0.053 -0.02° +_scene_ 0.077 0.005 0.042 -5.653 -0.005 -5.702 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.099, 0.800, 0.089] + !! OVERLAP: table <-> chair depth=[0.517, 0.800, 0.033] + !! OVERLAP: table <-> chair depth=[0.335, 0.800, 0.029] + !! OVERLAP: table <-> chair depth=[0.439, 0.800, 0.098] + !! OVERLAP: table <-> floor depth=[1.501, -0.004, 1.211] + !! OVERLAP: chair <-> floor depth=[0.648, -0.004, 0.656] + !! OVERLAP: chair <-> floor depth=[0.517, -0.004, 0.612] + !! OVERLAP: chair <-> floor depth=[0.557, -0.004, 0.615] + !! OVERLAP: chair <-> floor depth=[0.439, -0.004, 0.535] +============================================================ + + +============================================================ +SCENE: DiningRoom-25528 | 10 objects +============================================================ +Final Step Collision Loss: 0.0632, Room Outer Loss: 0.0000, Walkable Loss: 3.1344 (Center Penalty: 3.9050, C1 Heatmap: 0.5492, C2 Repulsion: 9.6219), Relational Loss: 0.0268 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.852 0.751 1.152 -0.365 -0.002 -0.375 0.02° +chair 0.615 0.815 0.509 -1.032 0.006 -0.654 49.83° +chair 0.497 0.780 0.532 -0.050 0.001 -1.037 0.03° +chair 0.516 0.723 0.529 0.652 0.000 -0.630 -46.81° +chair 0.553 0.744 0.551 -0.849 -0.002 0.524 149.73° +chair 0.534 0.761 0.536 0.595 0.002 0.151 -124.85° +chair 0.502 0.775 0.521 -0.086 0.001 0.751 179.97° +lamp 0.453 1.012 0.419 0.071 1.718 -0.070 -0.02° +floor 3.721 -0.002 3.588 0.005 -0.001 -0.010 0.01° +_scene_ 0.061 0.009 0.026 -5.665 -0.006 -5.716 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.566, 0.751, 0.509] + !! OVERLAP: table <-> chair depth=[0.497, 0.751, 0.180] + !! OVERLAP: table <-> chair depth=[0.167, 0.723, 0.529] + !! OVERLAP: table <-> chair depth=[0.233, 0.751, 0.317] + !! OVERLAP: table <-> floor depth=[1.852, -0.002, 1.152] + !! OVERLAP: chair <-> floor depth=[0.615, -0.002, 0.509] + !! OVERLAP: chair <-> floor depth=[0.497, -0.002, 0.532] + !! OVERLAP: chair <-> floor depth=[0.516, -0.002, 0.529] + !! OVERLAP: chair <-> floor depth=[0.553, -0.002, 0.551] + !! OVERLAP: chair <-> floor depth=[0.534, -0.002, 0.536] + !! OVERLAP: chair <-> floor depth=[0.502, -0.002, 0.521] +============================================================ + + +============================================================ +SCENE: DiningRoom-43067 | 10 objects +============================================================ +Final Step Collision Loss: 0.0159, Room Outer Loss: 0.0000, Walkable Loss: 2.4624 (Center Penalty: 3.2728, C1 Heatmap: 0.4167, C2 Repulsion: 6.5938), Relational Loss: 0.0218 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.229 0.826 1.290 0.410 0.002 -0.213 0.04° +chair 0.513 0.746 0.521 0.937 0.003 0.319 -90.08° +chair 0.513 0.694 0.543 0.948 0.003 -0.498 -89.99° +chair 0.441 0.726 0.480 0.241 0.001 1.083 179.92° +chair 0.445 0.681 0.455 -0.681 0.000 -0.434 90.01° +chair 0.538 0.676 0.529 -0.814 0.005 0.380 89.98° +chair 0.432 0.692 0.453 0.352 0.002 -1.114 0.06° +lamp 0.618 0.788 0.602 -0.243 1.918 -0.277 0.00° +floor 3.522 -0.008 3.704 0.010 -0.001 -0.022 0.00° +_scene_ 0.060 0.002 0.021 -5.660 -0.004 -5.703 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.344, 0.746, 0.374] + !! OVERLAP: table <-> chair depth=[0.333, 0.694, 0.543] + !! OVERLAP: table <-> floor depth=[1.229, -0.008, 1.290] + !! OVERLAP: chair <-> floor depth=[0.513, -0.008, 0.521] + !! OVERLAP: chair <-> floor depth=[0.513, -0.008, 0.543] + !! OVERLAP: chair <-> floor depth=[0.441, -0.008, 0.480] + !! OVERLAP: chair <-> floor depth=[0.445, -0.008, 0.455] + !! OVERLAP: chair <-> floor depth=[0.538, -0.008, 0.529] + !! OVERLAP: chair <-> floor depth=[0.432, -0.008, 0.453] +============================================================ + + +============================================================ +SCENE: DiningRoom-8121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0032, Room Outer Loss: 0.0000, Walkable Loss: 1.7688 (Center Penalty: 1.9384, C1 Heatmap: 0.4850, C2 Repulsion: 6.0562), Relational Loss: 0.0158 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.642 0.885 0.630 0.259 1.996 -0.578 0.11° +table 1.927 1.226 0.355 0.019 0.002 1.357 -179.86° +chair 0.492 0.603 0.545 -0.826 0.000 -0.516 90.00° +table 1.587 0.785 0.862 0.002 0.001 -0.984 90.02° +chair 0.524 0.688 0.493 -0.707 0.004 -1.147 89.98° +chair 0.391 0.652 0.453 0.936 0.002 -0.913 -90.07° +chair 0.452 0.721 0.520 0.659 0.001 -1.353 -89.91° +floor 2.729 -0.004 4.226 0.035 -0.000 -0.056 -0.01° +_scene_ 0.066 0.001 0.020 -5.670 -0.005 -5.717 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.927, -0.004, 0.355] + !! OVERLAP: chair <-> table depth=[0.211, 0.603, 0.235] + !! OVERLAP: chair <-> floor depth=[0.492, -0.004, 0.545] + !! OVERLAP: table <-> chair depth=[0.346, 0.688, 0.493] + !! OVERLAP: table <-> chair depth=[0.056, 0.652, 0.453] + !! OVERLAP: table <-> chair depth=[0.364, 0.721, 0.322] + !! OVERLAP: table <-> floor depth=[1.587, -0.004, 0.862] + !! OVERLAP: chair <-> floor depth=[0.524, -0.004, 0.493] + !! OVERLAP: chair <-> chair depth=[0.144, 0.652, 0.047] + !! OVERLAP: chair <-> floor depth=[0.391, -0.004, 0.453] + !! OVERLAP: chair <-> floor depth=[0.452, -0.004, 0.520] +============================================================ + + +============================================================ +SCENE: DiningRoom-6919 | 13 objects +============================================================ +Final Step Collision Loss: 0.0076, Room Outer Loss: 0.0000, Walkable Loss: 3.1806 (Center Penalty: 3.3522, C1 Heatmap: 0.6263, C2 Repulsion: 12.5393), Relational Loss: 0.0282 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.486 0.672 0.509 -0.971 0.001 0.981 166.27° +table 1.577 0.826 0.974 -0.530 0.001 0.202 179.98° +chair 0.511 0.662 0.449 -0.457 0.001 1.036 179.86° +chair 0.519 0.713 0.481 0.040 0.005 0.895 -146.29° +chair 0.511 0.676 0.525 0.024 0.003 -0.807 0.02° +chair 0.411 0.618 0.417 -0.459 -0.001 -0.884 0.01° +chair 0.492 0.695 0.482 -0.918 0.002 -0.857 0.04° +chair 0.455 0.656 0.479 0.622 0.001 0.104 -90.30° +chair 0.533 0.671 0.454 -1.460 -0.001 0.183 90.03° +table 1.695 0.799 0.405 1.817 0.001 0.804 -89.99° +lamp 0.726 0.918 0.732 -0.371 1.836 0.093 -0.06° +floor 5.771 -0.000 3.690 0.007 0.002 0.015 0.05° +_scene_ 0.062 0.004 0.049 -5.625 -0.005 -5.691 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.486, -0.000, 0.509] + !! OVERLAP: table <-> chair depth=[0.478, 0.713, 0.035] + !! OVERLAP: table <-> chair depth=[0.125, 0.671, 0.454] + !! OVERLAP: table <-> floor depth=[1.577, -0.000, 0.974] + !! OVERLAP: chair <-> chair depth=[0.018, 0.662, 0.324] + !! OVERLAP: chair <-> floor depth=[0.511, -0.000, 0.449] + !! OVERLAP: chair <-> floor depth=[0.519, -0.000, 0.481] + !! OVERLAP: chair <-> floor depth=[0.511, -0.000, 0.525] + !! OVERLAP: chair <-> floor depth=[0.411, -0.000, 0.417] + !! OVERLAP: chair <-> floor depth=[0.492, -0.000, 0.482] + !! OVERLAP: chair <-> floor depth=[0.455, -0.000, 0.479] + !! OVERLAP: chair <-> floor depth=[0.533, -0.000, 0.454] + !! OVERLAP: table <-> floor depth=[1.695, -0.000, 0.405] +============================================================ + + +============================================================ +SCENE: DiningRoom-17147 | 13 objects +============================================================ +Final Step Collision Loss: 0.0052, Room Outer Loss: 0.2980, Walkable Loss: 3.3121 (Center Penalty: 3.5268, C1 Heatmap: 0.5854, C2 Repulsion: 13.1458), Relational Loss: 0.0256 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.471 0.646 0.495 -0.856 0.001 0.962 178.99° +table 1.582 0.759 0.803 -0.423 0.001 0.214 179.92° +chair 0.487 0.637 0.473 -0.323 0.001 1.021 -179.99° +chair 0.564 0.670 0.520 0.030 0.002 1.046 -179.99° +chair 0.431 0.605 0.447 -0.023 -0.000 -0.728 -0.02° +chair 0.434 0.577 0.455 -0.437 0.000 -0.762 0.05° +chair 0.480 0.645 0.444 -0.964 0.002 -0.880 0.02° +chair 0.538 0.673 0.533 0.595 -0.000 0.089 -90.10° +chair 0.548 0.649 0.510 -1.352 0.006 0.047 89.98° +table 1.665 0.839 0.481 1.811 0.000 0.941 -89.93° +lamp 0.657 0.820 0.672 -0.512 1.715 0.214 -0.06° +floor 4.558 -0.003 3.331 -0.035 -0.001 -0.107 0.02° +_scene_ 0.095 -0.008 0.098 -5.628 -0.003 -5.654 -57.18° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.471, -0.003, 0.495] + !! OVERLAP: table <-> chair depth=[0.042, 0.673, 0.533] + !! OVERLAP: table <-> chair depth=[0.137, 0.649, 0.489] + !! OVERLAP: table <-> floor depth=[1.582, -0.003, 0.803] + !! OVERLAP: chair <-> chair depth=[0.173, 0.637, 0.471] + !! OVERLAP: chair <-> floor depth=[0.487, -0.003, 0.473] + !! OVERLAP: chair <-> floor depth=[0.564, -0.003, 0.520] + !! OVERLAP: chair <-> chair depth=[0.018, 0.577, 0.418] + !! OVERLAP: chair <-> floor depth=[0.431, -0.003, 0.447] + !! OVERLAP: chair <-> floor depth=[0.434, -0.003, 0.455] + !! OVERLAP: chair <-> floor depth=[0.480, -0.003, 0.444] + !! OVERLAP: chair <-> floor depth=[0.538, -0.003, 0.533] + !! OVERLAP: chair <-> floor depth=[0.548, -0.003, 0.510] + !! OVERLAP: table <-> floor depth=[1.266, -0.003, 0.481] +============================================================ + + +============================================================ +SCENE: DiningRoom-6259 | 9 objects +============================================================ +Final Step Collision Loss: 0.0178, Room Outer Loss: 0.8080, Walkable Loss: 2.7866 (Center Penalty: 3.8823, C1 Heatmap: 0.4763, C2 Repulsion: 6.5492), Relational Loss: 0.0435 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.260 1.083 0.332 -1.614 0.011 -0.322 90.09° +lamp 1.211 1.093 0.495 -0.119 1.767 0.145 -0.02° +table 1.569 0.759 1.061 -0.168 -0.000 0.087 0.02° +chair 0.504 0.930 0.511 -0.362 0.002 -0.665 0.05° +chair 0.480 0.923 0.558 0.282 0.000 -0.624 0.03° +chair 0.438 0.913 0.485 -0.424 -0.000 0.789 -179.98° +chair 0.437 0.915 0.526 0.176 0.002 0.895 180.00° +floor 3.091 -0.005 2.822 -0.011 0.001 -0.005 -0.03° +_scene_ 0.088 0.007 0.067 -5.641 -0.005 -5.669 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.573, -0.005, 0.332] + !! OVERLAP: table <-> chair depth=[0.504, 0.759, 0.034] + !! OVERLAP: table <-> chair depth=[0.480, 0.759, 0.098] + !! OVERLAP: table <-> chair depth=[0.438, 0.759, 0.072] + !! OVERLAP: table <-> floor depth=[1.569, -0.005, 1.061] + !! OVERLAP: chair <-> floor depth=[0.504, -0.005, 0.511] + !! OVERLAP: chair <-> floor depth=[0.480, -0.005, 0.558] + !! OVERLAP: chair <-> floor depth=[0.438, -0.005, 0.485] + !! OVERLAP: chair <-> floor depth=[0.437, -0.005, 0.526] +============================================================ + + +============================================================ +SCENE: DiningRoom-451 | 11 objects +============================================================ +Final Step Collision Loss: 0.0259, Room Outer Loss: 0.8534, Walkable Loss: 3.0370 (Center Penalty: 3.8185, C1 Heatmap: 0.5818, C2 Repulsion: 8.9508), Relational Loss: 0.0321 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.375 0.872 0.488 0.893 0.002 -1.152 -90.39° +chair 0.519 0.887 0.553 -0.720 0.001 -1.174 0.03° +table 1.497 0.672 1.175 -0.216 -0.003 -0.233 -0.09° +chair 0.508 0.878 0.496 -0.032 0.002 -1.242 -0.05° +chair 0.495 0.847 0.518 -0.519 0.002 0.853 -179.98° +chair 0.446 0.857 0.499 -0.087 0.001 0.791 -179.97° +cabinet 1.280 1.105 0.447 -1.313 0.001 0.432 89.99° +lamp 0.748 0.748 0.762 -0.215 1.653 0.057 0.05° +lamp 1.235 0.853 0.900 -0.555 1.781 -0.178 0.00° +floor 2.807 -0.000 3.904 -0.010 0.000 0.025 -0.01° +_scene_ 0.065 0.001 0.012 -5.677 -0.005 -5.722 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.016, 0.872, 0.402] + !! OVERLAP: table <-> floor depth=[1.188, -0.000, 0.488] + !! OVERLAP: chair <-> floor depth=[0.519, -0.000, 0.553] + !! OVERLAP: table <-> cabinet depth=[0.292, 0.672, 0.146] + !! OVERLAP: table <-> floor depth=[1.497, -0.000, 1.175] + !! OVERLAP: chair <-> floor depth=[0.508, -0.000, 0.496] + !! OVERLAP: chair <-> chair depth=[0.039, 0.847, 0.446] + !! OVERLAP: chair <-> cabinet depth=[0.094, 0.847, 0.061] + !! OVERLAP: chair <-> floor depth=[0.495, -0.000, 0.518] + !! OVERLAP: chair <-> floor depth=[0.446, -0.000, 0.499] + !! OVERLAP: cabinet <-> floor depth=[0.741, -0.000, 0.447] + !! OVERLAP: lamp <-> lamp depth=[0.651, 0.673, 0.596] +============================================================ + + +============================================================ +SCENE: DiningRoom-18332 | 10 objects +============================================================ +Final Step Collision Loss: 0.0362, Room Outer Loss: 0.0000, Walkable Loss: 3.0149 (Center Penalty: 3.9706, C1 Heatmap: 0.5201, C2 Repulsion: 8.2163), Relational Loss: 0.0202 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.267 0.702 1.096 -0.112 -0.001 0.333 179.99° +chair 0.441 0.702 0.461 -1.043 0.000 0.149 90.05° +chair 0.461 0.632 0.486 0.785 -0.000 0.249 -90.02° +chair 0.453 0.595 0.430 -0.423 -0.000 -0.668 0.04° +chair 0.497 0.613 0.505 0.021 0.001 -0.658 0.00° +chair 0.368 0.558 0.421 0.220 -0.000 1.017 179.94° +chair 0.460 0.536 0.464 -0.274 0.001 0.942 179.97° +lamp 0.798 0.694 0.770 -0.264 2.102 0.154 -0.00° +floor 3.415 -0.006 3.242 -0.007 -0.000 -0.015 -0.07° +_scene_ 0.064 0.004 0.033 -5.628 -0.003 -5.682 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.423, 0.701, 0.461] + !! OVERLAP: table <-> chair depth=[0.461, 0.632, 0.486] + !! OVERLAP: table <-> chair depth=[0.368, 0.558, 0.074] + !! OVERLAP: table <-> chair depth=[0.460, 0.536, 0.171] + !! OVERLAP: table <-> floor depth=[2.267, -0.006, 1.096] + !! OVERLAP: chair <-> floor depth=[0.441, -0.006, 0.461] + !! OVERLAP: chair <-> floor depth=[0.461, -0.006, 0.486] + !! OVERLAP: chair <-> chair depth=[0.031, 0.595, 0.430] + !! OVERLAP: chair <-> floor depth=[0.453, -0.006, 0.430] + !! OVERLAP: chair <-> floor depth=[0.497, -0.006, 0.505] + !! OVERLAP: chair <-> floor depth=[0.368, -0.006, 0.421] + !! OVERLAP: chair <-> floor depth=[0.460, -0.006, 0.464] +============================================================ + + +============================================================ +SCENE: DiningRoom-8951 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0382, Walkable Loss: 2.0740 (Center Penalty: 3.4773, C1 Heatmap: 0.2166, C2 Repulsion: 2.4866), Relational Loss: 0.0151 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.472 0.838 0.519 -1.052 -0.006 0.682 131.65° +chair 0.591 0.865 0.577 -0.017 -0.000 0.636 -109.36° +chair 0.554 0.815 0.536 0.308 -0.001 -0.354 -45.65° +chair 0.659 0.895 0.773 -0.689 0.001 -0.356 0.02° +lamp 0.905 1.026 1.000 -0.092 1.689 -0.159 -0.01° +table 0.511 1.203 0.426 1.309 0.003 -1.557 -89.81° +floor 3.240 -0.003 3.834 0.001 0.000 -0.009 -0.01° +_scene_ 0.070 0.001 0.021 -5.674 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.472, -0.003, 0.519] + !! OVERLAP: chair <-> floor depth=[0.591, -0.003, 0.577] + !! OVERLAP: chair <-> floor depth=[0.554, -0.003, 0.536] + !! OVERLAP: chair <-> floor depth=[0.659, -0.003, 0.773] + !! OVERLAP: table <-> floor depth=[0.511, -0.003, 0.426] +============================================================ + + +============================================================ +SCENE: DiningRoom-9982 | 9 objects +============================================================ +Final Step Collision Loss: 0.0638, Room Outer Loss: 0.0491, Walkable Loss: 2.1751 (Center Penalty: 2.8078, C1 Heatmap: 0.4896, C2 Repulsion: 5.7536), Relational Loss: 0.0324 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.848 1.998 0.282 0.847 0.002 1.453 -90.00° +table 1.552 0.717 1.177 -0.594 -0.002 -0.553 90.05° +chair 0.630 0.953 0.510 -0.931 0.008 -1.337 63.67° +chair 0.477 0.944 0.620 -0.200 0.002 -1.273 -90.11° +chair 0.546 0.952 0.617 -1.130 -0.000 -0.261 89.95° +chair 0.554 0.953 0.636 -0.167 0.001 0.169 -179.94° +lamp 1.489 0.689 0.151 0.132 2.112 -0.553 0.02° +floor 2.703 -0.001 4.019 0.009 -0.000 -0.002 -0.02° +_scene_ 0.037 0.000 0.017 -5.666 -0.004 -5.718 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.848, -0.001, 0.282] + !! OVERLAP: table <-> chair depth=[0.630, 0.717, 0.059] + !! OVERLAP: table <-> chair depth=[0.477, 0.717, 0.179] + !! OVERLAP: table <-> chair depth=[0.513, 0.717, 0.605] + !! OVERLAP: table <-> chair depth=[0.554, 0.717, 0.185] + !! OVERLAP: table <-> floor depth=[1.525, -0.001, 1.177] + !! OVERLAP: chair <-> floor depth=[0.630, -0.001, 0.510] + !! OVERLAP: chair <-> floor depth=[0.477, -0.001, 0.620] + !! OVERLAP: chair <-> floor depth=[0.486, -0.001, 0.617] + !! OVERLAP: chair <-> floor depth=[0.554, -0.001, 0.636] +============================================================ + + +============================================================ +SCENE: DiningRoom-168152 | 8 objects +============================================================ +Final Step Collision Loss: 0.0358, Room Outer Loss: 0.5390, Walkable Loss: 1.9755 (Center Penalty: 2.4797, C1 Heatmap: 0.5178, C2 Repulsion: 5.2852), Relational Loss: 0.0269 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.714 1.801 0.320 -1.704 0.003 0.311 89.90° +table 1.540 0.748 1.079 0.547 -0.000 -0.075 0.02° +chair 0.610 0.906 0.603 -0.128 0.001 -0.784 -0.00° +chair 0.575 0.953 0.607 0.757 0.001 -0.722 0.09° +chair 0.534 0.927 0.514 0.052 0.005 0.668 179.98° +chair 0.473 0.899 0.515 0.907 -0.001 0.715 -179.99° +floor 4.005 -0.002 3.657 -0.001 -0.000 -0.014 -0.07° +_scene_ 0.060 -0.001 0.016 -5.669 -0.007 -5.709 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.156, -0.002, 0.320] + !! OVERLAP: table <-> chair depth=[0.400, 0.748, 0.132] + !! OVERLAP: table <-> chair depth=[0.575, 0.748, 0.196] + !! OVERLAP: table <-> chair depth=[0.534, 0.748, 0.054] + !! OVERLAP: table <-> chair depth=[0.473, 0.748, 0.007] + !! OVERLAP: table <-> floor depth=[1.540, -0.002, 1.079] + !! OVERLAP: chair <-> floor depth=[0.610, -0.002, 0.603] + !! OVERLAP: chair <-> floor depth=[0.575, -0.002, 0.607] + !! OVERLAP: chair <-> floor depth=[0.534, -0.002, 0.514] + !! OVERLAP: chair <-> floor depth=[0.473, -0.002, 0.515] +============================================================ + + +============================================================ +SCENE: DiningRoom-5492 | 11 objects +============================================================ +Final Step Collision Loss: 0.0518, Room Outer Loss: 0.0000, Walkable Loss: 1.8454 (Center Penalty: 1.2065, C1 Heatmap: 0.6181, C2 Repulsion: 9.9489), Relational Loss: 0.0151 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.333 0.739 1.401 0.338 0.001 1.178 -0.05° +chair 0.505 0.730 0.532 0.338 0.001 1.828 179.97° +chair 0.504 0.756 0.568 0.533 0.003 1.565 179.97° +chair 0.587 0.720 0.593 0.293 0.000 0.370 -0.01° +chair 0.617 0.786 0.600 0.876 -0.000 0.131 0.00° +chair 0.559 0.730 0.560 -0.663 -0.000 0.998 90.10° +chair 0.492 0.782 0.511 1.367 -0.001 0.982 -90.11° +table 1.204 0.745 0.541 -1.605 0.002 -0.325 0.10° +lamp 0.374 0.607 0.369 0.292 2.010 1.302 -0.01° +floor 5.757 -0.007 5.483 -0.544 0.001 0.686 0.03° +_scene_ 0.066 0.001 0.022 -5.669 -0.006 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.505, 0.730, 0.316] + !! OVERLAP: table <-> chair depth=[0.504, 0.739, 0.568] + !! OVERLAP: table <-> chair depth=[0.587, 0.720, 0.190] + !! OVERLAP: table <-> floor depth=[1.333, -0.007, 1.401] + !! OVERLAP: chair <-> chair depth=[0.310, 0.730, 0.286] + !! OVERLAP: chair <-> floor depth=[0.505, -0.007, 0.532] + !! OVERLAP: chair <-> floor depth=[0.504, -0.007, 0.568] + !! OVERLAP: chair <-> chair depth=[0.018, 0.720, 0.357] + !! OVERLAP: chair <-> floor depth=[0.587, -0.007, 0.593] + !! OVERLAP: chair <-> floor depth=[0.617, -0.007, 0.600] + !! OVERLAP: chair <-> floor depth=[0.559, -0.007, 0.560] + !! OVERLAP: chair <-> floor depth=[0.492, -0.007, 0.511] + !! OVERLAP: table <-> floor depth=[1.204, -0.007, 0.541] +============================================================ + + +============================================================ +SCENE: DiningRoom-375 | 8 objects +============================================================ +Final Step Collision Loss: 0.0596, Room Outer Loss: 0.0000, Walkable Loss: 2.5130 (Center Penalty: 3.7830, C1 Heatmap: 0.4296, C2 Repulsion: 4.4966), Relational Loss: 0.0236 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.713 0.749 1.148 0.154 -0.003 -0.110 0.00° +chair 0.508 0.898 0.583 -0.578 -0.002 0.605 132.11° +chair 0.518 0.953 0.566 0.461 0.000 0.611 179.89° +chair 0.502 0.909 0.512 -0.186 -0.002 -0.839 9.73° +chair 0.496 0.942 0.691 0.759 -0.004 -0.706 -65.69° +lamp 0.402 0.725 0.428 0.050 1.907 -0.028 -0.02° +floor 2.567 -0.004 2.803 0.000 0.001 -0.001 -0.03° +_scene_ 0.064 -0.000 0.019 -5.666 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.379, 0.749, 0.151] + !! OVERLAP: table <-> chair depth=[0.518, 0.749, 0.136] + !! OVERLAP: table <-> chair depth=[0.502, 0.749, 0.101] + !! OVERLAP: table <-> chair depth=[0.496, 0.749, 0.323] + !! OVERLAP: table <-> floor depth=[1.713, -0.004, 1.148] + !! OVERLAP: chair <-> floor depth=[0.508, -0.004, 0.583] + !! OVERLAP: chair <-> floor depth=[0.518, -0.004, 0.566] + !! OVERLAP: chair <-> floor depth=[0.502, -0.004, 0.512] + !! OVERLAP: chair <-> floor depth=[0.496, -0.004, 0.691] +============================================================ + + +============================================================ +SCENE: DiningRoom-3017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0011, Room Outer Loss: 0.0241, Walkable Loss: 1.7041 (Center Penalty: 2.5689, C1 Heatmap: 0.3526, C2 Repulsion: 2.7863), Relational Loss: 0.0109 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.580 0.732 0.832 -0.009 0.001 -0.780 0.03° +chair 0.479 0.822 0.440 -1.230 0.001 -0.297 80.17° +chair 0.514 0.860 0.547 -0.427 0.001 0.829 -179.92° +chair 0.485 0.827 0.531 0.227 -0.000 1.096 179.94° +table 0.727 1.200 0.302 1.112 -0.001 -0.842 -89.96° +lamp 0.538 0.394 0.520 -0.206 2.203 -0.260 -0.02° +floor 2.875 -0.002 3.480 -0.022 0.001 0.000 0.05° +_scene_ 0.059 0.002 0.013 -5.670 -0.006 -5.716 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> table depth=[0.033, 0.732, 0.302] + !! OVERLAP: table <-> floor depth=[1.580, -0.002, 0.832] + !! OVERLAP: chair <-> floor depth=[0.469, -0.002, 0.440] + !! OVERLAP: chair <-> floor depth=[0.514, -0.002, 0.547] + !! OVERLAP: chair <-> floor depth=[0.485, -0.002, 0.531] + !! OVERLAP: table <-> floor depth=[0.667, -0.002, 0.302] +============================================================ + + +============================================================ +SCENE: DiningRoom-164 | 11 objects +============================================================ +Final Step Collision Loss: 0.0065, Room Outer Loss: 0.0000, Walkable Loss: 2.5669 (Center Penalty: 2.9241, C1 Heatmap: 0.6456, C2 Repulsion: 8.4660), Relational Loss: 0.0178 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.435 0.917 0.473 -0.876 0.001 0.121 90.03° +chair 0.498 0.952 0.581 -0.938 0.001 0.685 89.98° +chair 0.503 0.891 0.532 0.898 0.001 0.004 -89.86° +chair 0.491 0.880 0.490 0.959 -0.000 0.573 -90.06° +chair 0.474 0.893 0.530 0.206 0.000 1.584 180.00° +chair 0.520 0.895 0.534 0.087 -0.000 -1.001 0.11° +table 1.849 0.618 0.474 -0.070 0.001 -1.764 -0.01° +table 1.449 0.767 1.212 -0.121 0.001 0.427 90.02° +lamp 0.982 0.847 0.560 0.051 1.733 0.446 90.04° +floor 3.263 -0.004 4.939 0.013 -0.001 0.103 -0.01° +_scene_ 0.073 0.007 0.047 -5.641 -0.004 -5.691 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.187, 0.767, 0.473] + !! OVERLAP: chair <-> floor depth=[0.435, -0.004, 0.473] + !! OVERLAP: chair <-> table depth=[0.157, 0.767, 0.581] + !! OVERLAP: chair <-> floor depth=[0.498, -0.004, 0.581] + !! OVERLAP: chair <-> floor depth=[0.503, -0.004, 0.532] + !! OVERLAP: chair <-> floor depth=[0.491, -0.004, 0.490] + !! OVERLAP: chair <-> floor depth=[0.474, -0.004, 0.530] + !! OVERLAP: chair <-> floor depth=[0.520, -0.004, 0.534] + !! OVERLAP: table <-> floor depth=[1.849, -0.004, 0.474] + !! OVERLAP: table <-> floor depth=[1.449, -0.004, 1.212] +============================================================ + + +============================================================ +SCENE: DiningRoom-34036 | 15 objects +============================================================ +Final Step Collision Loss: 0.0033, Room Outer Loss: 0.9785, Walkable Loss: 3.2137 (Center Penalty: 3.9277, C1 Heatmap: 0.7312, C2 Repulsion: 9.5740), Relational Loss: 0.0093 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.215 0.557 1.297 -0.425 0.001 0.229 89.99° +cabinet 2.707 2.771 0.272 -1.471 0.000 -0.411 89.95° +cabinet 0.623 1.154 0.379 1.342 0.001 -0.453 -89.97° +cabinet 0.652 0.965 0.476 1.438 0.003 -1.634 -90.05° +chair 0.509 0.785 0.471 -1.063 0.003 -0.365 89.98° +chair 0.491 0.784 0.567 0.463 0.002 -0.562 -90.02° +chair 0.400 0.758 0.452 0.613 0.001 0.303 -90.09° +chair 0.467 0.789 0.459 -1.024 0.001 0.720 90.01° +chair 0.460 0.725 0.461 -0.322 0.004 1.395 163.08° +chair 0.416 0.712 0.421 -0.237 0.000 -1.238 0.12° +lamp 0.313 0.921 0.328 -0.131 1.600 0.823 -0.01° +lamp 0.217 1.050 0.223 0.036 1.553 0.171 -0.02° +lamp 0.282 0.776 0.303 0.916 1.785 -0.245 0.01° +floor 3.875 -0.002 4.704 -0.060 0.001 0.030 -0.03° +_scene_ 0.059 0.001 0.014 -5.673 -0.003 -5.718 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> cabinet depth=[0.915, 0.557, 0.145] + !! OVERLAP: table <-> chair depth=[0.225, 0.557, 0.290] + !! OVERLAP: table <-> chair depth=[0.243, 0.557, 0.387] + !! OVERLAP: table <-> floor depth=[1.215, -0.002, 1.297] + !! OVERLAP: cabinet <-> chair depth=[0.509, 0.785, 0.272] + !! OVERLAP: cabinet <-> floor depth=[1.880, -0.002, 0.272] + !! OVERLAP: cabinet <-> floor depth=[0.623, -0.002, 0.379] + !! OVERLAP: cabinet <-> floor depth=[0.652, -0.002, 0.476] + !! OVERLAP: chair <-> floor depth=[0.509, -0.002, 0.471] + !! OVERLAP: chair <-> floor depth=[0.491, -0.002, 0.567] + !! OVERLAP: chair <-> floor depth=[0.400, -0.002, 0.452] + !! OVERLAP: chair <-> floor depth=[0.467, -0.002, 0.459] + !! OVERLAP: chair <-> floor depth=[0.460, -0.002, 0.461] + !! OVERLAP: chair <-> floor depth=[0.416, -0.002, 0.421] +============================================================ + + +============================================================ +SCENE: DiningRoom-114621 | 9 objects +============================================================ +Final Step Collision Loss: 0.0608, Room Outer Loss: 0.1069, Walkable Loss: 1.9299 (Center Penalty: 2.6503, C1 Heatmap: 0.4416, C2 Repulsion: 4.2808), Relational Loss: 0.0351 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.383 1.376 0.389 0.818 -0.001 1.340 -179.86° +table 1.221 0.797 1.187 -0.607 0.003 -0.500 90.01° +chair 0.591 0.810 0.547 -0.784 -0.001 -0.702 0.04° +chair 0.482 0.835 0.516 -0.828 0.003 0.259 131.69° +chair 0.422 0.830 0.451 0.916 0.000 -0.586 0.01° +chair 0.507 0.812 0.572 0.943 0.001 0.032 -89.77° +lamp 0.918 0.968 0.933 0.344 1.747 -0.270 0.00° +floor 3.824 -0.004 2.871 -0.005 0.001 -0.028 -0.01° +_scene_ 0.071 0.000 0.019 -5.673 -0.007 -5.717 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.383, -0.004, 0.262] + !! OVERLAP: table <-> chair depth=[0.591, 0.797, 0.547] + !! OVERLAP: table <-> chair depth=[0.482, 0.797, 0.093] + !! OVERLAP: table <-> floor depth=[1.221, -0.004, 1.187] + !! OVERLAP: chair <-> floor depth=[0.591, -0.004, 0.547] + !! OVERLAP: chair <-> floor depth=[0.482, -0.004, 0.516] + !! OVERLAP: chair <-> floor depth=[0.422, -0.004, 0.451] + !! OVERLAP: chair <-> floor depth=[0.507, -0.004, 0.572] +============================================================ + + +============================================================ +SCENE: DiningRoom-33238 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0371, Walkable Loss: 1.2933 (Center Penalty: 1.9326, C1 Heatmap: 0.4493, C2 Repulsion: 1.4729), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.744 1.256 0.450 -1.365 0.002 0.758 89.94° +table 1.450 1.039 0.646 1.222 -0.001 0.505 -89.95° +table 1.604 0.727 1.182 -0.173 0.001 -0.162 89.98° +floor 3.866 -0.002 3.750 -0.006 -0.000 0.064 -0.05° +_scene_ 0.006 0.074 0.079 -5.352 0.028 -5.457 -59.54° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.744, -0.002, 0.450] + !! OVERLAP: table <-> table depth=[0.131, 0.727, 0.247] + !! OVERLAP: table <-> floor depth=[1.430, -0.002, 0.646] + !! OVERLAP: table <-> floor depth=[1.604, -0.002, 1.182] +============================================================ + + +============================================================ +SCENE: DiningRoom-69393 | 11 objects +============================================================ +Final Step Collision Loss: 0.0003, Room Outer Loss: 0.0000, Walkable Loss: 2.0300 (Center Penalty: 1.9480, C1 Heatmap: 0.6834, C2 Repulsion: 7.8268), Relational Loss: 0.0385 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.490 0.825 0.545 -1.141 0.001 0.607 90.00° +chair 0.584 0.853 0.588 -1.111 0.003 1.310 90.07° +chair 0.536 0.815 0.557 0.584 0.001 0.637 -89.97° +chair 0.546 0.791 0.496 0.688 0.000 1.390 -90.10° +chair 0.450 0.823 0.479 -0.257 0.000 2.061 179.98° +chair 0.460 0.837 0.516 -0.158 -0.000 -0.497 0.09° +table 1.977 0.649 0.766 -0.094 0.000 -1.716 -0.05° +table 1.723 0.721 0.960 -0.103 0.002 0.892 90.00° +lamp 0.727 0.934 0.720 -0.154 1.821 0.859 -0.03° +floor 3.997 -0.002 5.609 -0.042 0.001 0.445 -0.05° +_scene_ 0.058 0.002 0.021 -5.654 -0.004 -5.706 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.069, 0.721, 0.468] + !! OVERLAP: chair <-> floor depth=[0.490, -0.002, 0.545] + !! OVERLAP: chair <-> table depth=[0.146, 0.721, 0.356] + !! OVERLAP: chair <-> floor depth=[0.584, -0.002, 0.588] + !! OVERLAP: chair <-> table depth=[0.443, 0.721, 0.503] + !! OVERLAP: chair <-> floor depth=[0.536, -0.002, 0.557] + !! OVERLAP: chair <-> table depth=[0.344, 0.721, 0.231] + !! OVERLAP: chair <-> floor depth=[0.546, -0.002, 0.496] + !! OVERLAP: chair <-> floor depth=[0.450, -0.002, 0.479] + !! OVERLAP: chair <-> floor depth=[0.460, -0.002, 0.516] + !! OVERLAP: table <-> floor depth=[1.977, -0.002, 0.766] + !! OVERLAP: table <-> floor depth=[1.723, -0.002, 0.960] +============================================================ + + +============================================================ +SCENE: DiningRoom-87276 | 12 objects +============================================================ +Final Step Collision Loss: 0.0445, Room Outer Loss: 0.0000, Walkable Loss: 3.5580 (Center Penalty: 3.9610, C1 Heatmap: 0.6196, C2 Repulsion: 13.2967), Relational Loss: 0.0307 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.969 0.987 1.006 -0.022 -0.004 -0.070 -93.49° +chair 0.586 0.715 0.572 -0.887 0.000 0.859 138.58° +chair 0.580 0.741 0.522 0.050 0.003 0.974 -179.93° +chair 0.483 0.791 0.458 0.622 0.004 0.995 -124.41° +chair 0.573 0.728 0.518 0.644 0.000 -0.611 -42.19° +chair 0.511 0.755 0.513 -0.150 0.000 -0.804 0.09° +chair 0.512 0.779 0.520 -1.017 -0.003 -0.697 42.73° +chair 0.507 0.740 0.523 1.109 0.000 0.097 -89.80° +chair 0.550 0.762 0.567 -1.246 -0.001 0.131 90.02° +lamp 0.584 0.930 0.562 -0.167 1.753 0.021 -0.03° +floor 5.091 -0.003 3.719 -0.034 -0.000 0.020 -0.04° +_scene_ 0.095 -0.010 0.124 -5.562 -0.002 -5.570 -57.37° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.573, 0.728, 0.221] + !! OVERLAP: table <-> chair depth=[0.511, 0.755, 0.025] + !! OVERLAP: table <-> chair depth=[0.246, 0.779, 0.135] + !! OVERLAP: table <-> chair depth=[0.108, 0.740, 0.523] + !! OVERLAP: table <-> chair depth=[0.036, 0.762, 0.567] + !! OVERLAP: table <-> floor depth=[1.969, -0.003, 1.006] + !! OVERLAP: chair <-> floor depth=[0.586, -0.003, 0.572] + !! OVERLAP: chair <-> floor depth=[0.580, -0.003, 0.522] + !! OVERLAP: chair <-> floor depth=[0.483, -0.003, 0.458] + !! OVERLAP: chair <-> floor depth=[0.573, -0.003, 0.518] + !! OVERLAP: chair <-> floor depth=[0.511, -0.003, 0.513] + !! OVERLAP: chair <-> floor depth=[0.512, -0.003, 0.520] + !! OVERLAP: chair <-> floor depth=[0.507, -0.003, 0.523] + !! OVERLAP: chair <-> floor depth=[0.550, -0.003, 0.567] +============================================================ + + +============================================================ +SCENE: DiningRoom-16460 | 12 objects +============================================================ +Final Step Collision Loss: 0.0322, Room Outer Loss: 0.0000, Walkable Loss: 2.5178 (Center Penalty: 2.4513, C1 Heatmap: 0.7684, C2 Repulsion: 9.8474), Relational Loss: 0.0377 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.161 0.761 0.651 1.301 -0.002 -0.556 -89.87° +table 1.898 0.775 1.165 -0.859 0.000 0.682 90.02° +chair 0.539 0.744 0.590 -1.715 0.001 -0.232 89.90° +chair 0.600 0.727 0.526 -0.639 0.000 -0.505 -0.00° +chair 0.510 0.769 0.589 -1.572 0.001 0.905 179.87° +chair 0.502 0.781 0.521 -0.688 0.003 0.946 179.91° +table 1.302 0.862 0.392 -1.200 0.002 -1.225 -0.02° +lamp 0.388 0.708 0.345 -0.644 1.983 0.082 -0.03° +chair 0.543 0.739 0.489 0.261 -0.003 -0.613 -53.10° +chair 0.521 0.686 0.572 0.453 0.006 0.715 -116.32° +floor 5.085 -0.001 3.645 -0.211 -0.000 0.127 -0.04° +_scene_ 0.068 0.000 0.028 -5.668 -0.006 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.161, -0.001, 0.651] + !! OVERLAP: table <-> chair depth=[0.490, 0.769, 0.589] + !! OVERLAP: table <-> chair depth=[0.502, 0.775, 0.521] + !! OVERLAP: table <-> floor depth=[1.898, -0.001, 1.165] + !! OVERLAP: chair <-> floor depth=[0.539, -0.001, 0.590] + !! OVERLAP: chair <-> floor depth=[0.600, -0.001, 0.526] + !! OVERLAP: chair <-> floor depth=[0.510, -0.001, 0.589] + !! OVERLAP: chair <-> floor depth=[0.502, -0.001, 0.521] + !! OVERLAP: table <-> floor depth=[1.302, -0.001, 0.392] + !! OVERLAP: chair <-> floor depth=[0.543, -0.001, 0.489] + !! OVERLAP: chair <-> floor depth=[0.521, -0.001, 0.572] +============================================================ + + +============================================================ +SCENE: DiningRoom-31322 | 11 objects +============================================================ +Final Step Collision Loss: 0.0183, Room Outer Loss: 0.0000, Walkable Loss: 1.7593 (Center Penalty: 1.9875, C1 Heatmap: 0.5300, C2 Repulsion: 5.5360), Relational Loss: 0.0124 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.009 0.765 0.409 -1.505 0.001 1.722 179.90° +cabinet 0.866 1.072 0.339 1.088 0.005 -1.203 -90.11° +cabinet 0.674 1.123 0.382 1.290 0.003 -0.053 -89.93° +table 2.005 0.728 0.796 -0.273 0.000 -0.882 89.91° +chair 0.428 0.847 0.520 0.275 0.002 -0.384 -89.85° +lamp 0.424 1.344 0.323 -0.455 1.550 -0.772 124.84° +chair 0.448 0.847 0.484 -0.014 0.002 -1.186 -90.16° +chair 0.376 0.902 0.425 -1.444 0.004 -1.105 90.03° +chair 0.456 0.897 0.474 -1.479 0.001 -0.233 90.04° +floor 4.031 -0.002 4.490 -0.208 0.001 -0.038 -0.00° +_scene_ 0.067 -0.000 0.020 -5.674 -0.005 -5.715 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.009, -0.002, 0.409] + !! OVERLAP: cabinet <-> table depth=[0.075, 0.728, 0.246] + !! OVERLAP: cabinet <-> floor depth=[0.866, -0.002, 0.339] + !! OVERLAP: cabinet <-> floor depth=[0.674, -0.002, 0.382] + !! OVERLAP: table <-> chair depth=[0.428, 0.728, 0.160] + !! OVERLAP: table <-> chair depth=[0.448, 0.728, 0.336] + !! OVERLAP: table <-> chair depth=[0.020, 0.728, 0.387] + !! OVERLAP: table <-> floor depth=[2.005, -0.002, 0.796] + !! OVERLAP: chair <-> floor depth=[0.428, -0.002, 0.520] + !! OVERLAP: chair <-> floor depth=[0.448, -0.002, 0.484] + !! OVERLAP: chair <-> floor depth=[0.376, -0.002, 0.425] + !! OVERLAP: chair <-> floor depth=[0.456, -0.002, 0.474] +============================================================ + + +============================================================ +SCENE: DiningRoom-20718 | 11 objects +============================================================ +Final Step Collision Loss: 0.0512, Room Outer Loss: 0.0000, Walkable Loss: 1.9549 (Center Penalty: 1.5788, C1 Heatmap: 0.7845, C2 Repulsion: 8.5171), Relational Loss: 0.0278 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.125 0.771 0.980 -0.592 -0.001 -0.870 -90.01° +chair 0.464 0.851 0.521 -0.645 0.000 -0.270 -179.96° +chair 0.587 0.822 0.615 -0.535 0.001 -1.501 -0.29° +chair 0.532 0.794 0.523 -1.400 0.001 -1.447 0.02° +chair 0.493 0.852 0.517 -1.199 0.002 0.056 179.96° +table 1.141 0.995 0.337 1.070 0.000 -1.472 -90.24° +lamp 0.750 0.974 0.714 -0.895 1.770 -1.107 0.00° +table 1.884 0.746 0.737 -0.152 -0.001 1.688 -90.02° +chair 0.558 0.472 0.591 0.745 -0.000 0.946 -0.03° +floor 3.880 -0.001 5.122 -0.108 0.001 -0.156 -0.08° +_scene_ 0.068 0.002 0.021 -5.674 -0.005 -5.719 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.464, 0.771, 0.150] + !! OVERLAP: table <-> chair depth=[0.587, 0.771, 0.166] + !! OVERLAP: table <-> chair depth=[0.521, 0.771, 0.175] + !! OVERLAP: table <-> floor depth=[2.125, -0.001, 0.980] + !! OVERLAP: chair <-> floor depth=[0.464, -0.001, 0.521] + !! OVERLAP: chair <-> floor depth=[0.587, -0.001, 0.615] + !! OVERLAP: chair <-> floor depth=[0.532, -0.001, 0.523] + !! OVERLAP: chair <-> floor depth=[0.493, -0.001, 0.517] + !! OVERLAP: table <-> floor depth=[1.141, -0.001, 0.337] + !! OVERLAP: table <-> floor depth=[1.884, -0.001, 0.737] + !! OVERLAP: chair <-> floor depth=[0.558, -0.001, 0.591] +============================================================ + + +============================================================ +SCENE: DiningRoom-7122 | 9 objects +============================================================ +Final Step Collision Loss: 0.0326, Room Outer Loss: 0.0000, Walkable Loss: 1.9163 (Center Penalty: 2.0779, C1 Heatmap: 0.5746, C2 Repulsion: 6.4745), Relational Loss: 0.0234 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.283 0.891 0.515 -0.708 0.003 1.267 -179.99° +chair 0.582 0.936 0.564 0.651 0.009 -1.273 -89.98° +chair 0.619 0.921 0.574 0.779 0.006 -0.675 -90.16° +chair 0.583 0.917 0.614 -0.825 0.001 -1.176 88.54° +chair 0.554 0.931 0.551 -0.812 0.001 -0.703 90.02° +lamp 0.834 0.690 0.239 -0.153 1.777 -0.633 -90.04° +table 1.821 0.792 1.061 -0.215 0.009 -0.639 89.95° +floor 2.781 -0.001 3.715 0.011 0.002 -0.071 0.01° +_scene_ 0.065 0.001 0.028 -5.663 -0.004 -5.704 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.283, -0.001, 0.515] + !! OVERLAP: chair <-> table depth=[0.335, 0.792, 0.178] + !! OVERLAP: chair <-> floor depth=[0.582, -0.001, 0.564] + !! OVERLAP: chair <-> table depth=[0.226, 0.792, 0.574] + !! OVERLAP: chair <-> floor depth=[0.619, -0.001, 0.574] + !! OVERLAP: chair <-> chair depth=[0.554, 0.917, 0.111] + !! OVERLAP: chair <-> table depth=[0.583, 0.792, 0.300] + !! OVERLAP: chair <-> floor depth=[0.583, -0.001, 0.614] + !! OVERLAP: chair <-> table depth=[0.554, 0.792, 0.551] + !! OVERLAP: chair <-> floor depth=[0.554, -0.001, 0.551] + !! OVERLAP: table <-> floor depth=[1.821, -0.001, 1.061] +============================================================ + + +============================================================ +SCENE: DiningRoom-22339 | 10 objects +============================================================ +Final Step Collision Loss: 0.0332, Room Outer Loss: 0.0000, Walkable Loss: 2.7709 (Center Penalty: 3.6767, C1 Heatmap: 0.4520, C2 Repulsion: 7.5176), Relational Loss: 0.0366 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.608 0.945 0.555 -0.292 0.001 -1.150 8.02° +table 1.432 0.727 1.174 -0.376 -0.002 -0.196 0.09° +chair 0.518 0.953 0.574 -0.259 0.001 1.273 179.99° +chair 0.545 0.951 0.599 -1.038 0.002 -0.366 89.89° +chair 0.543 0.917 0.531 -0.969 0.002 0.332 104.49° +chair 0.492 0.945 0.559 0.602 0.000 -0.608 -90.07° +chair 0.535 0.930 0.528 0.455 0.001 0.399 -113.94° +lamp 0.784 0.879 0.777 0.029 1.797 -0.126 -0.00° +floor 2.761 -0.003 3.656 -0.004 0.001 0.066 -0.03° +_scene_ 0.059 -0.002 0.026 -5.661 -0.004 -5.705 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.608, -0.003, 0.555] + !! OVERLAP: table <-> chair depth=[0.326, 0.727, 0.599] + !! OVERLAP: table <-> chair depth=[0.395, 0.727, 0.324] + !! OVERLAP: table <-> chair depth=[0.154, 0.727, 0.256] + !! OVERLAP: table <-> floor depth=[1.432, -0.003, 1.174] + !! OVERLAP: chair <-> floor depth=[0.518, -0.003, 0.574] + !! OVERLAP: chair <-> floor depth=[0.545, -0.003, 0.599] + !! OVERLAP: chair <-> floor depth=[0.543, -0.003, 0.531] + !! OVERLAP: chair <-> floor depth=[0.492, -0.003, 0.559] + !! OVERLAP: chair <-> floor depth=[0.535, -0.003, 0.528] +============================================================ + + +============================================================ +SCENE: DiningRoom-12376 | 14 objects +============================================================ +Final Step Collision Loss: 0.0176, Room Outer Loss: 0.0449, Walkable Loss: 3.2602 (Center Penalty: 3.2361, C1 Heatmap: 0.8736, C2 Repulsion: 12.9266), Relational Loss: 0.0090 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.982 0.694 1.204 -0.683 -0.001 0.523 89.97° +chair 0.540 0.922 0.598 0.092 -0.000 0.320 -179.95° +chair 0.594 0.973 0.633 0.028 -0.001 -0.856 -90.07° +chair 0.596 0.937 0.592 -1.256 -0.001 -0.115 179.59° +chair 0.564 0.936 0.578 -1.101 0.002 -1.056 0.05° +table 1.526 1.477 0.434 -1.633 0.002 -0.035 89.93° +table 1.133 1.531 0.527 -1.868 -0.000 -0.737 89.94° +lamp 1.135 1.082 1.081 -0.215 1.826 0.006 90.07° +cabinet 0.525 1.242 0.397 2.005 0.001 -1.737 0.09° +cabinet 0.626 1.208 0.409 1.326 0.001 -1.982 -0.02° +cabinet 0.586 1.193 0.336 1.298 0.001 -1.741 0.02° +cabinet 0.638 1.276 0.319 0.183 0.001 -2.115 0.01° +floor 5.124 0.002 4.381 -0.179 -0.001 -0.215 0.07° +_scene_ 0.071 0.001 0.019 -5.669 -0.003 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.486, 0.694, 0.598] + !! OVERLAP: table <-> chair depth=[0.596, 0.694, 0.261] + !! OVERLAP: table <-> table depth=[0.804, 0.694, 0.261] + !! OVERLAP: table <-> floor depth=[1.982, 0.002, 1.204] + !! OVERLAP: chair <-> floor depth=[0.540, 0.002, 0.598] + !! OVERLAP: chair <-> floor depth=[0.594, 0.002, 0.633] + !! OVERLAP: chair <-> table depth=[0.596, 0.937, 0.434] + !! OVERLAP: chair <-> floor depth=[0.596, 0.002, 0.592] + !! OVERLAP: chair <-> table depth=[0.081, 0.936, 0.234] + !! OVERLAP: chair <-> floor depth=[0.564, 0.002, 0.578] + !! OVERLAP: table <-> floor depth=[1.526, 0.002, 0.434] + !! OVERLAP: table <-> floor depth=[1.133, 0.002, 0.527] + !! OVERLAP: cabinet <-> floor depth=[0.525, 0.002, 0.397] + !! OVERLAP: cabinet <-> cabinet depth=[0.577, 1.193, 0.131] + !! OVERLAP: cabinet <-> floor depth=[0.626, 0.002, 0.409] + !! OVERLAP: cabinet <-> floor depth=[0.586, 0.002, 0.336] + !! OVERLAP: cabinet <-> floor depth=[0.638, 0.002, 0.319] +============================================================ + + +============================================================ +SCENE: DiningRoom-19885 | 9 objects +============================================================ +Final Step Collision Loss: 0.0394, Room Outer Loss: 0.0000, Walkable Loss: 2.5630 (Center Penalty: 3.0124, C1 Heatmap: 0.5159, C2 Repulsion: 8.5045), Relational Loss: 0.0295 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.924 0.703 1.050 -0.092 -0.002 -0.142 -0.03° +chair 0.558 0.910 0.555 -0.142 -0.000 0.605 179.79° +chair 0.618 0.887 0.640 -0.766 -0.003 0.702 147.33° +chair 0.477 0.878 0.533 0.002 -0.001 -0.843 0.13° +chair 0.502 0.911 0.503 -0.827 -0.003 -0.634 49.03° +chair 0.436 0.923 0.501 0.594 0.003 0.628 -143.66° +chair 0.565 0.883 0.558 0.797 0.001 -0.552 -57.12° +floor 3.689 -0.005 3.934 -0.001 0.001 -0.036 0.08° +_scene_ 0.086 0.056 0.102 -5.140 -0.001 -5.352 -59.07° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.558, 0.703, 0.054] + !! OVERLAP: table <-> chair depth=[0.597, 0.703, 0.000] + !! OVERLAP: table <-> chair depth=[0.477, 0.703, 0.091] + !! OVERLAP: table <-> chair depth=[0.477, 0.703, 0.285] + !! OVERLAP: table <-> chair depth=[0.436, 0.703, 0.005] + !! OVERLAP: table <-> chair depth=[0.356, 0.703, 0.395] + !! OVERLAP: table <-> floor depth=[1.924, -0.005, 1.050] + !! OVERLAP: chair <-> floor depth=[0.558, -0.005, 0.555] + !! OVERLAP: chair <-> floor depth=[0.618, -0.005, 0.640] + !! OVERLAP: chair <-> floor depth=[0.477, -0.005, 0.533] + !! OVERLAP: chair <-> floor depth=[0.502, -0.005, 0.503] + !! OVERLAP: chair <-> floor depth=[0.436, -0.005, 0.501] + !! OVERLAP: chair <-> floor depth=[0.565, -0.005, 0.558] +============================================================ + + +============================================================ +SCENE: DiningRoom-2831 | 8 objects +============================================================ +Final Step Collision Loss: 0.0086, Room Outer Loss: 0.0000, Walkable Loss: 2.4226 (Center Penalty: 3.6148, C1 Heatmap: 0.3987, C2 Repulsion: 4.5576), Relational Loss: 0.0169 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.035 0.775 0.600 0.332 -0.001 -0.165 -0.00° +chair 0.540 1.022 0.558 -0.330 0.001 -0.719 0.04° +chair 0.511 0.978 0.544 0.727 0.002 -0.772 0.04° +chair 0.606 0.974 0.671 -0.281 0.000 0.708 179.99° +chair 0.562 0.998 0.603 0.729 0.000 0.478 -179.98° +lamp 0.743 0.820 0.282 -0.200 1.864 -0.040 0.03° +floor 3.189 -0.004 2.905 -0.045 0.000 0.000 -0.00° +_scene_ 0.070 0.000 0.021 -5.667 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.540, 0.775, 0.025] + !! OVERLAP: table <-> floor depth=[2.035, -0.004, 0.600] + !! OVERLAP: chair <-> floor depth=[0.540, -0.004, 0.558] + !! OVERLAP: chair <-> floor depth=[0.511, -0.004, 0.544] + !! OVERLAP: chair <-> floor depth=[0.606, -0.004, 0.671] + !! OVERLAP: chair <-> floor depth=[0.562, -0.004, 0.603] +============================================================ + + +============================================================ +SCENE: DiningRoom-60525 | 9 objects +============================================================ +Final Step Collision Loss: 0.0010, Room Outer Loss: 0.2905, Walkable Loss: 2.8224 (Center Penalty: 3.5742, C1 Heatmap: 0.5111, C2 Repulsion: 8.3083), Relational Loss: 0.0199 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.708 0.683 0.785 0.059 0.004 0.208 89.89° +chair 0.534 0.921 0.607 -0.765 0.001 0.833 89.99° +chair 0.488 0.868 0.530 -0.722 0.002 -0.032 89.98° +chair 0.493 0.874 0.528 0.879 -0.001 -0.195 -89.74° +chair 0.511 0.957 0.605 0.702 0.003 0.484 -90.25° +table 1.633 1.021 0.522 -1.327 -0.000 0.248 89.98° +lamp 0.883 1.116 0.871 0.183 1.798 0.402 -0.01° +floor 3.587 -0.002 4.587 0.043 0.001 0.020 -0.02° +_scene_ 0.067 -0.000 0.025 -5.678 -0.005 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.297, 0.683, 0.072] + !! OVERLAP: table <-> chair depth=[0.317, 0.683, 0.417] + !! OVERLAP: table <-> chair depth=[0.280, 0.683, 0.253] + !! OVERLAP: table <-> chair depth=[0.467, 0.683, 0.419] + !! OVERLAP: table <-> table depth=[0.285, 0.683, 0.522] + !! OVERLAP: table <-> floor depth=[1.708, -0.002, 0.785] + !! OVERLAP: chair <-> floor depth=[0.534, -0.002, 0.607] + !! OVERLAP: chair <-> table depth=[0.456, 0.868, 0.246] + !! OVERLAP: chair <-> floor depth=[0.488, -0.002, 0.530] + !! OVERLAP: chair <-> floor depth=[0.493, -0.002, 0.528] + !! OVERLAP: chair <-> floor depth=[0.511, -0.002, 0.605] + !! OVERLAP: table <-> floor depth=[1.240, -0.002, 0.522] +============================================================ + + +============================================================ +SCENE: DiningRoom-55572 | 14 objects +============================================================ +Final Step Collision Loss: 0.1403, Room Outer Loss: 0.2191, Walkable Loss: 2.4171 (Center Penalty: 0.6665, C1 Heatmap: 1.5756, C2 Repulsion: 14.5363), Relational Loss: 0.0327 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.320 0.463 1.427 0.844 0.001 -1.285 0.02° +sofa 2.218 0.794 1.177 1.453 0.003 -1.673 0.00° +wardrobe 0.921 2.461 0.647 -2.097 0.000 1.072 89.83° +chair 0.599 0.905 0.614 -0.730 -0.002 -1.610 -89.69° +chair 0.608 0.891 0.657 -0.740 0.001 -1.262 89.91° +lamp 0.864 0.855 0.877 0.879 1.781 -1.085 -0.04° +chair 0.649 0.854 0.700 1.146 0.003 0.300 -155.84° +sofa 2.458 0.853 1.139 0.402 -0.000 -2.101 0.03° +sofa 2.098 0.840 1.010 1.477 -0.001 -0.764 -89.91° +table 0.849 1.047 0.537 2.341 0.002 1.252 179.98° +cabinet 0.948 1.358 0.223 -1.900 0.001 1.711 89.90° +table 0.575 1.342 0.437 -0.793 0.004 1.781 179.90° +floor 5.669 -0.007 5.747 0.324 0.000 -0.454 -0.06° +_scene_ 0.073 0.000 0.024 -5.677 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.161, 0.463, 0.914] + !! OVERLAP: table <-> sofa depth=[1.320, 0.463, 0.466] + !! OVERLAP: table <-> sofa depth=[1.077, 0.463, 0.698] + !! OVERLAP: table <-> floor depth=[1.320, -0.007, 1.427] + !! OVERLAP: sofa <-> sofa depth=[1.287, 0.794, 0.730] + !! OVERLAP: sofa <-> sofa depth=[2.098, 0.794, 0.185] + !! OVERLAP: sofa <-> floor depth=[2.218, -0.007, 1.177] + !! OVERLAP: wardrobe <-> floor depth=[0.874, -0.007, 0.647] + !! OVERLAP: chair <-> chair depth=[0.594, 0.891, 0.287] + !! OVERLAP: chair <-> sofa depth=[0.396, 0.853, 0.386] + !! OVERLAP: chair <-> floor depth=[0.599, -0.007, 0.614] + !! OVERLAP: chair <-> sofa depth=[0.392, 0.853, 0.059] + !! OVERLAP: chair <-> floor depth=[0.608, -0.007, 0.657] + !! OVERLAP: chair <-> floor depth=[0.649, -0.007, 0.700] + !! OVERLAP: sofa <-> floor depth=[2.458, -0.007, 1.139] + !! OVERLAP: sofa <-> floor depth=[2.098, -0.007, 1.010] + !! OVERLAP: table <-> floor depth=[0.849, -0.007, 0.537] + !! OVERLAP: cabinet <-> floor depth=[0.948, -0.007, 0.223] + !! OVERLAP: table <-> floor depth=[0.575, -0.007, 0.437] +============================================================ + + +============================================================ +SCENE: DiningRoom-24191 | 12 objects +============================================================ +Final Step Collision Loss: 0.0046, Room Outer Loss: 0.0000, Walkable Loss: 3.5125 (Center Penalty: 3.8391, C1 Heatmap: 0.6522, C2 Repulsion: 13.3213), Relational Loss: 0.0302 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.068 0.720 0.868 0.254 -0.001 -0.127 -89.91° +chair 0.528 0.823 0.552 0.883 -0.001 -0.924 -90.25° +chair 0.514 0.831 0.570 0.984 0.000 -0.207 -89.88° +chair 0.555 0.797 0.583 0.267 0.001 1.163 179.96° +chair 0.553 0.800 0.628 -0.651 0.001 0.056 90.07° +chair 0.598 0.807 0.590 -0.563 0.002 -0.898 89.96° +chair 0.573 0.815 0.576 0.101 0.001 -1.372 0.01° +chair 0.646 0.842 0.686 -0.894 0.002 0.565 89.87° +chair 0.510 0.801 0.574 0.960 0.000 0.366 -90.08° +lamp 0.571 0.940 0.565 0.092 1.744 -0.008 0.02° +floor 3.919 -0.004 4.963 0.074 -0.001 -0.179 -0.01° +_scene_ 0.070 0.001 0.064 -5.635 -0.007 -5.668 -57.05° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.514, 0.720, 0.570] + !! OVERLAP: table <-> chair depth=[0.405, 0.720, 0.565] + !! OVERLAP: table <-> chair depth=[0.208, 0.720, 0.085] + !! OVERLAP: table <-> chair depth=[0.510, 0.720, 0.228] + !! OVERLAP: table <-> floor depth=[2.068, -0.004, 0.868] + !! OVERLAP: chair <-> floor depth=[0.528, -0.004, 0.552] + !! OVERLAP: chair <-> floor depth=[0.514, -0.004, 0.570] + !! OVERLAP: chair <-> floor depth=[0.555, -0.004, 0.583] + !! OVERLAP: chair <-> chair depth=[0.356, 0.800, 0.148] + !! OVERLAP: chair <-> floor depth=[0.553, -0.004, 0.628] + !! OVERLAP: chair <-> floor depth=[0.598, -0.004, 0.590] + !! OVERLAP: chair <-> floor depth=[0.573, -0.004, 0.576] + !! OVERLAP: chair <-> floor depth=[0.646, -0.004, 0.686] + !! OVERLAP: chair <-> floor depth=[0.510, -0.004, 0.574] +============================================================ + + +============================================================ +SCENE: DiningRoom-13034 | 8 objects +============================================================ +Final Step Collision Loss: 0.0168, Room Outer Loss: 0.0000, Walkable Loss: 2.7242 (Center Penalty: 4.1294, C1 Heatmap: 0.3035, C2 Repulsion: 5.3812), Relational Loss: 0.0248 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.486 0.787 0.665 0.112 -0.000 0.123 90.06° +chair 0.490 0.744 0.549 1.047 0.002 0.260 -90.07° +chair 0.453 0.845 0.572 0.901 0.003 -0.598 -90.19° +chair 0.598 0.816 0.540 -0.505 -0.002 0.091 90.05° +chair 0.589 0.754 0.560 -0.511 0.001 -0.267 90.01° +lamp 0.581 1.048 0.624 0.297 1.702 -0.034 90.00° +floor 2.822 0.003 3.327 -0.037 0.002 -0.009 0.06° +_scene_ 0.081 0.005 0.033 -5.654 -0.004 -5.691 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.053, 0.744, 0.470] + !! OVERLAP: table <-> chair depth=[0.425, 0.787, 0.540] + !! OVERLAP: table <-> chair depth=[0.414, 0.754, 0.222] + !! OVERLAP: table <-> floor depth=[1.486, 0.003, 0.665] + !! OVERLAP: chair <-> floor depth=[0.490, 0.003, 0.549] + !! OVERLAP: chair <-> floor depth=[0.453, 0.003, 0.572] + !! OVERLAP: chair <-> chair depth=[0.587, 0.754, 0.191] + !! OVERLAP: chair <-> floor depth=[0.598, 0.003, 0.540] + !! OVERLAP: chair <-> floor depth=[0.589, 0.003, 0.560] +============================================================ + + +============================================================ +SCENE: DiningRoom-21509 | 10 objects +============================================================ +Final Step Collision Loss: 0.0375, Room Outer Loss: 0.0484, Walkable Loss: 2.0741 (Center Penalty: 2.2655, C1 Heatmap: 0.4019, C2 Repulsion: 7.8064), Relational Loss: 0.0150 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.432 0.768 0.968 -0.978 0.000 0.723 0.03° +chair 0.479 0.937 0.513 -0.385 0.004 1.080 -179.86° +chair 0.472 0.991 0.555 -0.484 0.000 0.178 -89.78° +chair 0.576 0.952 0.614 -1.560 0.001 0.630 89.95° +chair 0.493 0.983 0.532 -1.482 0.001 -0.040 0.02° +lamp 0.708 1.148 0.558 -0.243 1.601 -0.476 -89.93° +cabinet 0.532 1.988 0.412 1.209 0.002 -1.585 0.14° +lamp 0.251 1.013 0.237 -1.221 1.410 0.837 0.03° +floor 3.441 0.001 3.746 -0.256 0.001 -0.106 0.07° +_scene_ 0.068 0.001 0.018 -5.672 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.362, 0.768, 0.384] + !! OVERLAP: table <-> chair depth=[0.458, 0.768, 0.216] + !! OVERLAP: table <-> chair depth=[0.422, 0.768, 0.614] + !! OVERLAP: table <-> floor depth=[1.432, 0.001, 0.968] + !! OVERLAP: chair <-> floor depth=[0.479, 0.001, 0.513] + !! OVERLAP: chair <-> floor depth=[0.472, 0.001, 0.555] + !! OVERLAP: chair <-> floor depth=[0.576, 0.001, 0.614] + !! OVERLAP: chair <-> floor depth=[0.493, 0.001, 0.532] + !! OVERLAP: cabinet <-> floor depth=[0.521, 0.001, 0.412] +============================================================ + + +============================================================ +SCENE: DiningRoom-42541 | 8 objects +============================================================ +Final Step Collision Loss: 0.0798, Room Outer Loss: 0.0233, Walkable Loss: 2.7991 (Center Penalty: 4.0886, C1 Heatmap: 0.3800, C2 Repulsion: 6.0281), Relational Loss: 0.0247 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.458 0.751 1.047 -0.166 0.001 -0.030 0.01° +chair 0.535 0.921 0.583 -0.167 0.003 0.431 179.98° +chair 0.523 0.896 0.534 -0.935 0.002 0.490 -179.99° +chair 0.541 0.952 0.538 -0.096 -0.000 -0.516 -0.01° +chair 0.531 0.899 0.531 -0.920 -0.001 -0.475 0.02° +lamp 0.644 0.680 0.588 -0.077 2.478 0.091 0.04° +floor 3.855 0.007 1.646 -0.139 -0.001 0.017 0.01° +_scene_ 0.064 -0.001 0.023 -5.669 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.535, 0.751, 0.353] + !! OVERLAP: table <-> chair depth=[0.221, 0.751, 0.270] + !! OVERLAP: table <-> chair depth=[0.541, 0.751, 0.307] + !! OVERLAP: table <-> chair depth=[0.241, 0.751, 0.344] + !! OVERLAP: table <-> floor depth=[1.458, 0.007, 1.047] + !! OVERLAP: chair <-> floor depth=[0.535, 0.007, 0.583] + !! OVERLAP: chair <-> floor depth=[0.523, 0.007, 0.534] + !! OVERLAP: chair <-> floor depth=[0.541, 0.007, 0.538] + !! OVERLAP: chair <-> floor depth=[0.531, 0.007, 0.531] +============================================================ + + +============================================================ +SCENE: DiningRoom-13727 | 10 objects +============================================================ +Final Step Collision Loss: 0.0383, Room Outer Loss: 0.0253, Walkable Loss: 2.7099 (Center Penalty: 2.6732, C1 Heatmap: 0.7379, C2 Repulsion: 10.7812), Relational Loss: 0.0469 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.812 0.743 1.320 -0.313 -0.002 -0.057 0.00° +chair 0.535 0.796 0.573 0.426 -0.000 0.741 -179.90° +chair 0.568 0.756 0.529 -0.363 0.004 0.884 161.84° +chair 0.560 0.753 0.572 -1.126 0.003 0.177 96.91° +chair 0.476 0.749 0.480 -0.398 0.000 -0.926 13.34° +chair 0.575 0.800 0.563 0.596 0.002 -0.943 -26.68° +chair 0.526 0.754 0.484 1.014 0.002 -0.115 -80.08° +cabinet 1.997 2.163 0.311 -1.389 0.000 -0.876 89.92° +floor 4.756 -0.003 3.113 -0.030 -0.000 0.017 -0.01° +_scene_ 0.078 0.002 0.042 -5.642 -0.008 -5.674 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.435, 0.743, 0.149] + !! OVERLAP: table <-> chair depth=[0.372, 0.743, 0.572] + !! OVERLAP: table <-> chair depth=[0.476, 0.743, 0.031] + !! OVERLAP: table <-> chair depth=[0.285, 0.743, 0.056] + !! OVERLAP: table <-> floor depth=[1.812, -0.003, 1.320] + !! OVERLAP: chair <-> floor depth=[0.535, -0.003, 0.573] + !! OVERLAP: chair <-> floor depth=[0.568, -0.003, 0.529] + !! OVERLAP: chair <-> floor depth=[0.560, -0.003, 0.572] + !! OVERLAP: chair <-> cabinet depth=[0.246, 0.749, 0.311] + !! OVERLAP: chair <-> floor depth=[0.476, -0.003, 0.480] + !! OVERLAP: chair <-> floor depth=[0.575, -0.003, 0.563] + !! OVERLAP: chair <-> floor depth=[0.526, -0.003, 0.484] + !! OVERLAP: cabinet <-> floor depth=[1.997, -0.003, 0.311] +============================================================ + + +============================================================ +SCENE: Library-4425 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1303, Walkable Loss: 1.8074 (Center Penalty: 2.7972, C1 Heatmap: 0.3655, C2 Repulsion: 2.6265), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.169 0.802 0.493 0.798 0.001 -0.148 -89.88° +chair 0.590 0.719 0.587 -0.552 0.001 -0.103 67.45° +bookshelf 0.879 1.902 0.217 -0.688 0.005 1.258 -179.94° +lamp 1.120 1.295 1.128 0.017 1.367 -0.048 -0.00° +floor 2.519 -0.002 2.701 -0.006 0.001 -0.027 -0.03° +_scene_ 0.067 0.001 0.019 -5.674 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.041, -0.002, 0.493] + !! OVERLAP: chair <-> floor depth=[0.590, -0.002, 0.587] + !! OVERLAP: bookshelf <-> floor depth=[0.879, -0.002, 0.174] +============================================================ + + +============================================================ +SCENE: Library-4345 | 6 objects +============================================================ +Final Step Collision Loss: 0.2295, Room Outer Loss: 0.7447, Walkable Loss: 1.9716 (Center Penalty: 2.9166, C1 Heatmap: 0.8000, C2 Repulsion: 1.9332), Relational Loss: 0.0366 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.896 2.119 0.372 0.387 0.002 1.266 179.99° +lamp 0.822 1.223 0.761 -0.240 0.723 -0.357 -0.11° +desk 2.957 2.826 1.323 0.474 -0.002 -0.702 -90.16° +lamp 0.605 0.184 0.580 -0.072 2.334 -0.148 -0.02° +floor 2.708 -0.003 3.392 0.023 0.002 -0.147 -0.04° +_scene_ 0.071 0.004 0.068 -5.661 -0.004 -5.682 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.896, -0.003, 0.372] + !! OVERLAP: lamp <-> desk depth=[0.822, 1.223, 0.697] + !! OVERLAP: desk <-> floor depth=[2.381, -0.003, 1.323] +============================================================ + + +============================================================ +SCENE: Library-16688 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1899, Walkable Loss: 1.8303 (Center Penalty: 2.6572, C1 Heatmap: 0.5881, C2 Repulsion: 2.6646), Relational Loss: 0.0358 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.767 0.903 0.803 -0.037 1.976 -0.091 -0.01° +bookshelf 0.630 2.457 0.557 1.590 -0.001 1.172 -90.22° +bookshelf 0.555 2.448 0.490 1.496 0.001 -1.100 -90.04° +bookshelf 0.732 2.243 0.489 1.519 0.000 -0.153 -90.01° +desk 1.503 0.736 0.568 0.154 0.001 1.215 179.96° +sofa 2.077 0.788 0.949 -0.261 -0.000 -0.439 -0.06° +floor 3.882 0.001 3.011 -0.040 -0.000 0.085 -0.04° +_scene_ 0.065 -0.000 0.018 -5.668 -0.005 -5.698 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.625, 0.001, 0.557] + !! OVERLAP: bookshelf <-> floor depth=[0.555, 0.001, 0.490] + !! OVERLAP: bookshelf <-> floor depth=[0.732, 0.001, 0.489] + !! OVERLAP: desk <-> floor depth=[1.503, 0.001, 0.568] + !! OVERLAP: sofa <-> floor depth=[2.077, 0.001, 0.949] +============================================================ + + +============================================================ +SCENE: Library-29416 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.8357, Walkable Loss: 2.5030 (Center Penalty: 3.3936, C1 Heatmap: 0.7004, C2 Repulsion: 5.2605), Relational Loss: 0.0120 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.858 2.724 0.304 0.956 -0.001 0.190 -90.05° +bookshelf 1.983 2.599 0.228 1.209 -0.001 0.559 -90.10° +desk 1.633 0.947 0.603 -0.248 0.002 0.361 89.97° +chair 0.717 0.733 0.742 0.510 -0.002 0.198 -89.98° +lamp 0.551 0.760 0.563 -0.097 2.033 0.146 -0.02° +floor 3.026 -0.000 3.166 -0.010 0.000 -0.035 -0.02° +_scene_ 0.078 0.001 0.035 -5.667 -0.004 -5.694 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[1.042, 0.947, 0.283] + !! OVERLAP: bookshelf <-> chair depth=[0.717, 0.733, 0.304] + !! OVERLAP: bookshelf <-> floor depth=[1.976, -0.000, 0.304] + !! OVERLAP: bookshelf <-> desk depth=[0.351, 0.947, 0.218] + !! OVERLAP: bookshelf <-> chair depth=[0.651, 0.733, 0.124] + !! OVERLAP: bookshelf <-> floor depth=[1.286, -0.000, 0.228] + !! OVERLAP: desk <-> chair depth=[0.417, 0.733, 0.510] + !! OVERLAP: desk <-> floor depth=[1.633, -0.000, 0.603] + !! OVERLAP: chair <-> floor depth=[0.717, -0.000, 0.742] +============================================================ + + +============================================================ +SCENE: Library-110125 | 7 objects +============================================================ +Final Step Collision Loss: 0.0276, Room Outer Loss: 0.0041, Walkable Loss: 1.4315 (Center Penalty: 2.3878, C1 Heatmap: 0.2665, C2 Repulsion: 1.3102), Relational Loss: 0.0037 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.309 0.782 0.536 -1.172 -0.003 0.494 -90.09° +chair 0.520 0.986 0.511 -0.908 -0.002 -0.112 -53.62° +bookshelf 1.367 2.152 0.304 -1.150 -0.001 -1.299 0.04° +lamp 1.045 1.192 1.393 0.253 1.486 0.062 90.06° +chair 0.559 0.586 0.547 0.896 -0.000 -0.447 -89.96° +floor 4.049 -0.004 2.782 -0.058 -0.000 -0.002 -0.06° +_scene_ 0.068 0.000 0.022 -5.669 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.309, -0.004, 0.536] + !! OVERLAP: chair <-> floor depth=[0.520, -0.004, 0.511] + !! OVERLAP: bookshelf <-> floor depth=[1.367, -0.004, 0.246] + !! OVERLAP: chair <-> floor depth=[0.559, -0.004, 0.547] +============================================================ + + +============================================================ +SCENE: Library-19478 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6190 (Center Penalty: 2.8064, C1 Heatmap: 0.3075, C2 Repulsion: 0.9277), Relational Loss: 0.0510 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.260 0.873 0.869 0.217 0.003 -0.226 -89.71° +bookshelf 1.805 2.470 0.432 -0.116 0.001 -1.309 0.02° +lamp 0.574 0.984 0.912 0.117 2.024 0.114 0.01° +floor 2.403 0.011 3.026 -0.061 -0.001 -0.057 -0.11° +_scene_ 0.106 -0.015 0.158 -5.490 0.009 -5.497 -58.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.260, 0.011, 0.869] + !! OVERLAP: bookshelf <-> floor depth=[1.805, 0.011, 0.432] +============================================================ + + +============================================================ +SCENE: Library-898 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 1.3725, Walkable Loss: 1.8056 (Center Penalty: 2.5609, C1 Heatmap: 0.6116, C2 Repulsion: 2.8052), Relational Loss: 0.0548 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.224 2.471 0.249 -1.033 -0.000 -0.258 89.87° +desk 1.964 1.711 0.563 0.138 0.001 0.219 179.99° +chair 0.662 0.749 0.703 0.090 0.002 -0.459 0.10° +floor 2.679 -0.001 3.188 -0.026 0.001 -0.035 -0.01° +_scene_ 0.049 0.002 0.046 -5.621 -0.001 -5.676 -57.46° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.662, 0.749, 0.249] + !! OVERLAP: bookshelf <-> floor depth=[1.943, -0.001, 0.249] + !! OVERLAP: desk <-> floor depth=[1.964, -0.001, 0.563] + !! OVERLAP: chair <-> floor depth=[0.662, -0.001, 0.703] +============================================================ + + +============================================================ +SCENE: Library-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.1666, Room Outer Loss: 1.1541, Walkable Loss: 1.8779 (Center Penalty: 1.6216, C1 Heatmap: 1.0941, C2 Repulsion: 6.2946), Relational Loss: 0.0449 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.229 2.255 0.492 0.890 -0.001 -0.767 -90.17° +chair 0.757 0.888 0.782 -0.724 -0.001 -1.776 -22.99° +desk 1.359 0.681 0.552 -0.509 0.002 -1.338 90.04° +sofa 2.266 0.939 1.322 -0.537 -0.002 0.121 89.99° +table 0.747 0.452 0.815 -0.442 0.001 1.539 0.00° +floor 3.101 -0.001 4.727 0.023 0.001 -0.049 0.00° +_scene_ 0.069 0.000 0.025 -5.667 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[1.320, 0.939, 0.019] + !! OVERLAP: bookshelf <-> floor depth=[2.298, -0.001, 0.492] + !! OVERLAP: chair <-> desk depth=[0.757, 0.681, 0.229] + !! OVERLAP: chair <-> floor depth=[0.757, -0.001, 0.782] + !! OVERLAP: desk <-> floor depth=[1.359, -0.001, 0.552] + !! OVERLAP: sofa <-> floor depth=[2.123, -0.001, 1.322] + !! OVERLAP: table <-> floor depth=[0.747, -0.001, 0.815] +============================================================ + + +============================================================ +SCENE: Library-7291 | 7 objects +============================================================ +Final Step Collision Loss: 0.0395, Room Outer Loss: 0.0632, Walkable Loss: 1.6659 (Center Penalty: 2.3065, C1 Heatmap: 0.6745, C2 Repulsion: 2.4287), Relational Loss: 0.0104 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.663 0.500 0.645 -0.877 -0.000 0.525 -0.01° +bookshelf 0.727 1.922 0.401 1.301 0.001 0.736 -90.06° +lamp 0.436 0.599 0.425 -0.102 2.180 0.115 -0.03° +desk 1.974 0.830 0.864 -0.310 0.003 0.920 179.85° +sofa 2.041 0.784 0.938 -0.323 -0.001 -1.164 0.01° +floor 3.111 -0.000 3.348 -0.007 0.002 -0.030 -0.01° +_scene_ 0.063 0.000 0.027 -5.656 -0.004 -5.702 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.663, 0.500, 0.360] + !! OVERLAP: chair <-> floor depth=[0.663, -0.000, 0.645] + !! OVERLAP: bookshelf <-> floor depth=[0.610, -0.000, 0.401] + !! OVERLAP: desk <-> floor depth=[1.974, -0.000, 0.864] + !! OVERLAP: sofa <-> floor depth=[2.041, -0.000, 0.938] +============================================================ + + +============================================================ +SCENE: Library-24727 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3297, Walkable Loss: 1.1595 (Center Penalty: 2.0577, C1 Heatmap: 0.2600, C2 Repulsion: 0.2666), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.683 2.361 0.390 -1.277 0.005 0.424 89.91° +chair 0.902 0.794 0.780 0.378 0.001 0.819 -143.24° +lamp 0.310 0.586 0.334 0.204 2.197 0.284 -0.05° +floor 3.772 -0.002 3.179 0.036 0.001 0.046 -0.03° +_scene_ 0.055 -0.000 0.060 -5.602 -0.000 -5.621 -57.50° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.414, -0.002, 0.390] + !! OVERLAP: chair <-> floor depth=[0.902, -0.002, 0.780] +============================================================ + + +============================================================ +SCENE: Library-43565 | 7 objects +============================================================ +Final Step Collision Loss: 0.0980, Room Outer Loss: 1.0472, Walkable Loss: 2.6017 (Center Penalty: 3.8346, C1 Heatmap: 0.7105, C2 Repulsion: 4.0021), Relational Loss: 0.0022 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.918 2.455 0.423 -0.924 -0.015 -0.126 89.98° +bookshelf 0.664 1.972 0.396 0.835 0.002 0.953 -179.96° +chair 0.540 0.771 0.520 -0.179 -0.001 -0.200 89.92° +lamp 0.683 0.380 0.645 0.011 2.210 -0.080 -0.01° +desk 2.016 0.808 1.076 0.272 -0.001 -0.280 -0.02° +floor 2.616 -0.001 2.781 -0.028 -0.000 0.006 -0.02° +_scene_ 0.061 0.002 0.015 -5.672 -0.004 -5.707 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.540, 0.771, 0.397] + !! OVERLAP: bookshelf <-> desk depth=[1.271, 0.808, 0.423] + !! OVERLAP: bookshelf <-> floor depth=[1.872, -0.001, 0.423] + !! OVERLAP: bookshelf <-> floor depth=[0.664, -0.001, 0.396] + !! OVERLAP: chair <-> desk depth=[0.540, 0.771, 0.520] + !! OVERLAP: chair <-> floor depth=[0.540, -0.001, 0.520] + !! OVERLAP: desk <-> floor depth=[2.015, -0.001, 1.076] +============================================================ + + +============================================================ +SCENE: Library-24675 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7337, Walkable Loss: 1.8336 (Center Penalty: 3.0189, C1 Heatmap: 0.3122, C2 Repulsion: 1.9924), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.077 1.096 1.086 0.095 1.685 -0.145 0.00° +chair 0.507 0.924 0.579 -0.715 -0.000 0.316 89.42° +desk 1.231 0.700 0.558 0.320 0.001 -0.300 -90.01° +bookshelf 1.891 2.675 0.372 -1.219 0.002 -0.202 90.01° +floor 2.917 -0.005 2.945 -0.036 0.001 -0.041 0.02° +_scene_ 0.047 0.002 0.027 -5.529 -0.005 -5.623 -57.93° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: lamp <-> bookshelf depth=[0.171, 0.203, 0.372] + !! OVERLAP: chair <-> floor depth=[0.507, -0.005, 0.579] + !! OVERLAP: desk <-> bookshelf depth=[0.022, 0.700, 0.367] + !! OVERLAP: desk <-> floor depth=[1.231, -0.005, 0.558] + !! OVERLAP: bookshelf <-> floor depth=[1.221, -0.005, 0.372] +============================================================ + + +============================================================ +SCENE: Library-11256 | 10 objects +============================================================ +Final Step Collision Loss: 0.0923, Room Outer Loss: 2.0930, Walkable Loss: 2.1402 (Center Penalty: 2.0567, C1 Heatmap: 0.9878, C2 Repulsion: 7.1676), Relational Loss: 0.0190 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.873 2.610 0.264 1.461 -0.011 1.571 -90.09° +bookshelf 3.333 2.406 0.404 1.512 -0.000 -0.183 -90.23° +desk 1.508 0.881 0.571 -0.428 -0.001 1.053 179.97° +chair 0.593 0.928 0.648 0.604 0.000 0.866 -90.02° +chair 0.798 0.861 0.928 -1.236 0.000 -1.089 36.06° +chair 0.446 0.451 0.450 -1.538 0.001 -0.266 89.99° +table 0.580 0.573 0.548 -0.375 0.000 -1.131 0.02° +lamp 0.410 0.585 0.371 -0.148 2.134 0.346 -0.04° +floor 3.770 0.000 3.911 0.028 0.000 0.004 -0.03° +_scene_ 0.070 0.001 0.021 -5.672 -0.004 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.888, 0.000, 0.264] + !! OVERLAP: bookshelf <-> floor depth=[2.067, 0.000, 0.404] + !! OVERLAP: desk <-> chair depth=[0.018, 0.881, 0.424] + !! OVERLAP: desk <-> floor depth=[1.508, 0.000, 0.571] + !! OVERLAP: chair <-> floor depth=[0.593, 0.000, 0.648] + !! OVERLAP: chair <-> floor depth=[0.798, 0.000, 0.928] + !! OVERLAP: chair <-> floor depth=[0.446, 0.000, 0.450] + !! OVERLAP: table <-> floor depth=[0.580, 0.000, 0.548] +============================================================ + + +============================================================ +SCENE: Library-70308 | 6 objects +============================================================ +Final Step Collision Loss: 0.1057, Room Outer Loss: 0.1486, Walkable Loss: 2.4695 (Center Penalty: 3.6072, C1 Heatmap: 0.4677, C2 Repulsion: 4.7882), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.351 0.802 0.543 -0.218 0.001 0.362 -179.95° +chair 0.621 1.006 0.718 -0.576 0.002 -0.078 26.85° +bookshelf 1.188 2.229 0.315 0.939 -0.001 0.320 -90.21° +lamp 1.269 1.419 1.202 -0.119 1.481 0.054 0.08° +floor 2.809 -0.003 3.263 0.002 0.001 0.001 -0.04° +_scene_ 0.024 0.007 0.013 -5.615 -0.004 -5.686 -57.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.621, 0.802, 0.191] + !! OVERLAP: desk <-> bookshelf depth=[0.113, 0.802, 0.315] + !! OVERLAP: desk <-> floor depth=[1.351, -0.003, 0.543] + !! OVERLAP: chair <-> floor depth=[0.621, -0.003, 0.718] + !! OVERLAP: bookshelf <-> lamp depth=[0.171, 0.342, 0.315] + !! OVERLAP: bookshelf <-> floor depth=[1.061, -0.003, 0.315] +============================================================ + + +============================================================ +SCENE: Library-57472 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0586, Walkable Loss: 1.3944 (Center Penalty: 2.3188, C1 Heatmap: 0.3014, C2 Repulsion: 1.1439), Relational Loss: 0.0010 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.196 0.799 0.553 -0.328 0.002 1.137 179.95° +bookshelf 0.416 1.722 0.242 1.378 0.003 0.836 179.98° +chair 0.540 0.715 0.582 -0.518 0.001 0.567 0.05° +bookshelf 1.897 1.918 0.341 -0.711 -0.000 -0.934 0.04° +lamp 1.308 1.009 0.848 -0.221 2.127 0.063 0.04° +floor 3.305 -0.004 2.798 -0.047 0.001 0.041 -0.07° +_scene_ 0.066 -0.000 0.027 -5.675 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.196, -0.004, 0.553] + !! OVERLAP: bookshelf <-> floor depth=[0.416, -0.004, 0.242] + !! OVERLAP: chair <-> floor depth=[0.540, -0.004, 0.582] + !! OVERLAP: bookshelf <-> floor depth=[1.897, -0.004, 0.341] +============================================================ + + +============================================================ +SCENE: Library-32231 | 7 objects +============================================================ +Final Step Collision Loss: 0.1036, Room Outer Loss: 0.9385, Walkable Loss: 2.2060 (Center Penalty: 3.0391, C1 Heatmap: 0.7018, C2 Repulsion: 4.0578), Relational Loss: 0.0515 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.401 0.853 0.545 0.029 -0.001 -0.402 -90.01° +bookshelf 2.967 2.613 0.350 -0.106 0.002 1.307 -179.89° +cabinet 2.074 1.297 0.609 -0.351 0.004 -0.688 89.98° +lamp 0.616 0.545 0.626 -0.017 2.218 -0.276 -0.02° +chair 0.405 0.868 0.458 0.430 -0.001 -1.418 -27.46° +floor 2.235 -0.001 3.699 -0.005 0.003 -0.044 0.03° +_scene_ 0.066 0.000 0.023 -5.672 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> cabinet depth=[1.358, 0.853, 0.291] + !! OVERLAP: desk <-> floor depth=[1.401, -0.001, 0.545] + !! OVERLAP: bookshelf <-> floor depth=[2.235, -0.001, 0.350] + !! OVERLAP: cabinet <-> floor depth=[1.809, -0.001, 0.609] + !! OVERLAP: chair <-> floor depth=[0.405, -0.001, 0.458] +============================================================ + + +============================================================ +SCENE: Library-2480 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0089, Walkable Loss: 1.0205 (Center Penalty: 1.5771, C1 Heatmap: 0.4069, C2 Repulsion: 0.6922), Relational Loss: 0.1000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.484 0.810 0.502 -0.773 -0.001 -0.172 89.76° +bookshelf 1.787 2.111 0.335 0.030 0.003 1.624 -179.98° +desk 1.531 0.755 1.125 0.572 -0.001 -0.581 -90.12° +floor 2.713 0.002 3.549 0.007 0.001 -0.010 -0.01° +_scene_ 0.102 0.004 0.070 -5.651 -0.005 -5.684 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.484, 0.002, 0.502] + !! OVERLAP: bookshelf <-> floor depth=[1.787, 0.002, 0.308] + !! OVERLAP: desk <-> floor depth=[1.531, 0.002, 1.125] +============================================================ + + +============================================================ +SCENE: Library-23898 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3342, Walkable Loss: 1.3933 (Center Penalty: 2.3489, C1 Heatmap: 0.3023, C2 Repulsion: 0.9792), Relational Loss: 0.0349 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.224 0.735 0.632 -0.226 0.000 -0.605 -0.03° +lamp 0.553 0.805 0.163 0.000 1.864 0.400 -0.13° +bookshelf 0.545 1.925 0.421 1.274 0.000 -0.898 -89.64° +chair 0.622 0.945 0.606 -0.359 -0.004 0.718 168.25° +bookshelf 1.034 1.964 0.430 1.352 0.002 1.554 -90.34° +bookshelf 0.703 2.119 0.291 1.272 0.005 0.260 -90.00° +floor 3.166 -0.003 3.112 0.027 -0.000 0.347 -0.06° +_scene_ 0.050 0.003 0.013 -5.677 -0.005 -5.716 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.224, -0.003, 0.632] + !! OVERLAP: bookshelf <-> floor depth=[0.545, -0.003, 0.421] + !! OVERLAP: chair <-> floor depth=[0.622, -0.003, 0.606] + !! OVERLAP: bookshelf <-> floor depth=[0.774, -0.003, 0.430] + !! OVERLAP: bookshelf <-> floor depth=[0.689, -0.003, 0.291] +============================================================ + + +============================================================ +SCENE: Library-19283 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.8532, Walkable Loss: 1.8119 (Center Penalty: 2.6695, C1 Heatmap: 0.4969, C2 Repulsion: 2.7837), Relational Loss: 0.0052 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.641 2.397 0.232 0.763 -0.001 -0.127 -90.02° +desk 1.503 0.962 0.734 -0.612 0.001 -0.291 90.02° +chair 0.595 0.817 0.604 0.069 0.005 -0.084 -89.64° +floor 2.639 0.001 3.236 -0.023 0.001 -0.097 -0.03° +_scene_ 0.066 0.043 0.086 -5.206 0.001 -5.407 -58.43° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.697, 0.962, 0.232] + !! OVERLAP: bookshelf <-> chair depth=[0.595, 0.817, 0.232] + !! OVERLAP: bookshelf <-> floor depth=[1.853, 0.001, 0.232] + !! OVERLAP: desk <-> chair depth=[0.368, 0.817, 0.463] + !! OVERLAP: desk <-> floor depth=[1.482, 0.001, 0.734] + !! OVERLAP: chair <-> floor depth=[0.595, 0.001, 0.604] +============================================================ + + +============================================================ +SCENE: Library-29744 | 6 objects +============================================================ +Final Step Collision Loss: 0.1782, Room Outer Loss: 1.6417, Walkable Loss: 2.0945 (Center Penalty: 2.6127, C1 Heatmap: 0.7418, C2 Repulsion: 4.9149), Relational Loss: 0.0452 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.633 2.380 0.302 -0.836 0.016 0.294 90.48° +bookshelf 2.424 2.274 0.277 1.080 -0.001 -0.066 -90.08° +desk 2.067 0.744 0.777 0.129 -0.000 -0.878 -0.06° +chair 0.563 0.757 0.567 -0.120 -0.000 0.098 -179.98° +floor 2.612 -0.002 3.166 -0.018 -0.001 -0.043 -0.01° +_scene_ 0.061 -0.000 0.022 -5.662 -0.004 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.563, 0.757, 0.239] + !! OVERLAP: bookshelf <-> floor depth=[1.804, -0.002, 0.302] + !! OVERLAP: bookshelf <-> chair depth=[0.294, 0.757, 0.257] + !! OVERLAP: bookshelf <-> floor depth=[1.420, -0.002, 0.277] + !! OVERLAP: desk <-> floor depth=[2.067, -0.002, 0.777] + !! OVERLAP: chair <-> floor depth=[0.563, -0.002, 0.567] +============================================================ + + +============================================================ +SCENE: Library-22443 | 7 objects +============================================================ +Final Step Collision Loss: 0.0492, Room Outer Loss: 0.7042, Walkable Loss: 2.1745 (Center Penalty: 3.2854, C1 Heatmap: 0.3174, C2 Repulsion: 4.0486), Relational Loss: 0.0114 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.008 2.055 0.274 -1.114 -0.002 0.273 90.00° +bookshelf 1.245 2.068 0.318 -1.299 0.005 -0.560 90.00° +desk 1.492 0.720 0.565 0.085 -0.000 -0.430 -90.07° +chair 0.547 0.876 0.591 -0.435 0.001 -0.183 89.80° +lamp 0.673 0.368 0.591 -0.018 2.553 -0.190 -0.03° +floor 2.817 0.000 4.163 0.002 0.001 -0.131 -0.00° +_scene_ 0.061 -0.001 0.025 -5.675 -0.005 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.797, 0.000, 0.274] + !! OVERLAP: bookshelf <-> chair depth=[0.031, 0.876, 0.078] + !! OVERLAP: bookshelf <-> floor depth=[0.730, 0.000, 0.318] + !! OVERLAP: desk <-> chair depth=[0.500, 0.720, 0.330] + !! OVERLAP: desk <-> floor depth=[1.492, 0.000, 0.565] + !! OVERLAP: chair <-> floor depth=[0.547, 0.000, 0.591] +============================================================ + + +============================================================ +SCENE: Library-1093 | 8 objects +============================================================ +Final Step Collision Loss: 0.0135, Room Outer Loss: 0.5411, Walkable Loss: 1.6407 (Center Penalty: 2.6115, C1 Heatmap: 0.2896, C2 Repulsion: 2.1908), Relational Loss: 0.0308 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.825 2.080 0.530 -1.073 0.003 1.137 -179.96° +bookshelf 0.818 2.013 0.401 -1.185 0.001 -0.705 90.02° +bookshelf 1.059 2.136 0.366 1.206 0.000 -0.112 -90.07° +chair 0.670 0.822 0.752 -0.736 0.001 -0.409 89.85° +lamp 0.555 0.432 0.571 0.195 2.389 -0.013 -90.01° +chair 0.496 0.561 0.520 -0.068 0.000 -0.659 89.97° +floor 2.687 -0.003 3.347 0.000 -0.001 -0.005 -0.02° +_scene_ 0.063 -0.001 0.015 -5.663 -0.006 -5.712 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.682, -0.003, 0.530] + !! OVERLAP: bookshelf <-> chair depth=[0.296, 0.822, 0.281] + !! OVERLAP: bookshelf <-> floor depth=[0.568, -0.003, 0.401] + !! OVERLAP: bookshelf <-> floor depth=[0.667, -0.003, 0.366] + !! OVERLAP: chair <-> floor depth=[0.670, -0.003, 0.752] + !! OVERLAP: chair <-> floor depth=[0.496, -0.003, 0.520] +============================================================ + + +============================================================ +SCENE: Library-13832 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4640, Walkable Loss: 2.1795 (Center Penalty: 3.5971, C1 Heatmap: 0.3545, C2 Repulsion: 2.3911), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.149 1.744 0.299 -1.137 0.001 -0.036 89.96° +desk 2.004 0.749 0.862 0.188 -0.001 -0.109 -90.00° +chair 0.458 0.777 0.482 -0.489 0.000 0.046 90.02° +lamp 1.197 1.044 0.879 0.060 1.659 -0.110 0.03° +floor 2.470 -0.000 2.895 0.018 0.000 -0.010 -0.00° +_scene_ 0.063 -0.001 0.017 -5.667 -0.002 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.252, 0.749, 0.299] + !! OVERLAP: bookshelf <-> chair depth=[0.156, 0.777, 0.299] + !! OVERLAP: bookshelf <-> floor depth=[0.655, -0.000, 0.299] + !! OVERLAP: desk <-> chair depth=[0.458, 0.749, 0.482] + !! OVERLAP: desk <-> floor depth=[2.004, -0.000, 0.862] + !! OVERLAP: chair <-> floor depth=[0.458, -0.000, 0.482] +============================================================ + + +============================================================ +SCENE: Library-16869 | 8 objects +============================================================ +Final Step Collision Loss: 0.0177, Room Outer Loss: 0.0000, Walkable Loss: 1.7129 (Center Penalty: 2.4462, C1 Heatmap: 0.4598, C2 Repulsion: 3.0589), Relational Loss: 0.0485 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.506 0.721 0.512 0.411 0.001 -0.038 0.00° +desk 1.387 1.115 0.566 0.702 -0.003 0.682 179.95° +chair 0.406 0.734 0.429 -0.628 0.003 -0.116 0.04° +bookshelf 0.851 1.322 0.278 0.466 -0.000 -1.287 -0.01° +bookshelf 0.768 1.014 0.458 -0.867 0.004 -1.342 0.07° +desk 1.698 1.100 0.607 -0.238 0.009 1.115 -179.97° +floor 2.740 -0.000 3.226 -0.009 -0.000 -0.005 0.00° +_scene_ 0.067 -0.000 0.020 -5.672 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.506, -0.000, 0.512] + !! OVERLAP: desk <-> desk depth=[0.602, 1.096, 0.153] + !! OVERLAP: desk <-> floor depth=[1.353, -0.000, 0.566] + !! OVERLAP: chair <-> floor depth=[0.406, -0.000, 0.429] + !! OVERLAP: bookshelf <-> floor depth=[0.851, -0.000, 0.278] + !! OVERLAP: bookshelf <-> floor depth=[0.768, -0.000, 0.458] + !! OVERLAP: desk <-> floor depth=[1.698, -0.000, 0.607] +============================================================ + + +============================================================ +SCENE: Library-29737 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0452, Walkable Loss: 1.9243 (Center Penalty: 2.9205, C1 Heatmap: 0.5971, C2 Repulsion: 2.2527), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.552 1.054 0.544 0.074 0.001 0.678 -161.12° +desk 2.475 0.817 1.116 0.149 0.000 -0.539 0.01° +lamp 0.464 0.661 0.444 -0.206 1.915 0.083 -0.02° +bookshelf 1.876 2.464 0.256 -0.096 0.001 1.393 -179.98° +floor 2.770 -0.001 3.150 0.004 -0.000 0.004 -0.02° +_scene_ 0.064 -0.001 0.036 -5.653 -0.004 -5.693 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.552, -0.001, 0.544] + !! OVERLAP: desk <-> floor depth=[2.475, -0.001, 1.116] + !! OVERLAP: bookshelf <-> floor depth=[1.876, -0.001, 0.256] +============================================================ + + +============================================================ +SCENE: Library-13751 | 6 objects +============================================================ +Final Step Collision Loss: 0.1106, Room Outer Loss: 0.0000, Walkable Loss: 2.1907 (Center Penalty: 3.5089, C1 Heatmap: 0.5391, C2 Repulsion: 2.2063), Relational Loss: 0.0403 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.655 0.309 0.649 -0.047 2.491 0.122 -0.02° +bookshelf 1.781 1.992 0.333 -0.136 -0.001 -1.240 0.06° +desk 2.115 0.671 1.153 -0.118 0.002 0.081 -89.97° +chair 0.580 0.894 0.603 0.598 -0.001 -0.010 -23.84° +floor 2.605 -0.000 3.022 -0.020 0.001 -0.027 0.02° +_scene_ 0.041 0.007 0.016 -5.622 -0.007 -5.676 -57.43° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.781, -0.000, 0.333] + !! OVERLAP: desk <-> chair depth=[0.580, 0.671, 0.603] + !! OVERLAP: desk <-> floor depth=[2.115, -0.000, 1.153] + !! OVERLAP: chair <-> floor depth=[0.580, -0.000, 0.603] +============================================================ + + +============================================================ +SCENE: Library-11820 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2521, Walkable Loss: 1.3885 (Center Penalty: 2.2305, C1 Heatmap: 0.4622, C2 Repulsion: 0.8843), Relational Loss: 0.0295 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.619 0.313 0.609 -0.170 2.343 0.082 -0.06° +chair 0.496 0.857 0.472 1.081 -0.001 -0.654 -120.90° +desk 1.533 0.743 0.548 -0.039 0.002 -0.940 0.02° +bookshelf 2.701 1.879 0.426 0.071 0.002 1.268 179.99° +floor 2.509 0.002 2.870 0.028 0.001 0.009 -0.05° +_scene_ 0.082 0.002 0.036 -5.657 -0.005 -5.700 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.449, 0.002, 0.472] + !! OVERLAP: desk <-> floor depth=[1.533, 0.002, 0.548] + !! OVERLAP: bookshelf <-> floor depth=[2.509, 0.002, 0.388] +============================================================ + + +============================================================ +SCENE: Library-45741 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3605, Walkable Loss: 2.1448 (Center Penalty: 3.4423, C1 Heatmap: 0.4197, C2 Repulsion: 2.5573), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.247 0.887 0.897 -0.260 0.002 0.149 89.95° +chair 0.479 0.753 0.530 0.471 -0.000 -0.054 -89.99° +bookshelf 1.175 2.047 0.359 1.061 -0.000 0.028 -90.02° +lamp 0.629 0.294 0.617 -0.151 2.291 0.066 0.02° +floor 2.803 -0.000 3.306 0.003 0.000 0.034 -0.03° +_scene_ 0.049 0.003 0.020 -5.641 -0.003 -5.699 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.479, 0.753, 0.511] + !! OVERLAP: desk <-> bookshelf depth=[0.390, 0.887, 0.359] + !! OVERLAP: desk <-> floor depth=[2.247, -0.000, 0.897] + !! OVERLAP: chair <-> bookshelf depth=[0.237, 0.753, 0.359] + !! OVERLAP: chair <-> floor depth=[0.479, -0.000, 0.530] + !! OVERLAP: bookshelf <-> floor depth=[0.932, -0.000, 0.359] +============================================================ + + +============================================================ +SCENE: Library-4659 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3659 (Center Penalty: 2.3723, C1 Heatmap: 0.3230, C2 Repulsion: 0.5057), Relational Loss: 0.0204 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.364 0.878 0.694 0.311 0.002 -0.931 -0.04° +chair 0.463 0.985 0.614 0.475 0.015 0.463 -179.77° +lamp 0.809 0.620 0.913 0.017 2.045 -0.116 0.02° +floor 2.749 0.012 3.662 0.087 -0.000 -0.282 -0.24° +_scene_ 0.104 0.129 0.271 -4.797 0.137 -4.719 -64.69° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[2.331, 0.012, 0.694] + !! OVERLAP: chair <-> floor depth=[0.463, 0.012, 0.614] +============================================================ + + +============================================================ +SCENE: Library-1808 | 7 objects +============================================================ +Final Step Collision Loss: 0.0639, Room Outer Loss: 2.4721, Walkable Loss: 2.9221 (Center Penalty: 3.8364, C1 Heatmap: 1.0813, C2 Repulsion: 5.7140), Relational Loss: 0.0110 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.489 2.597 0.269 1.100 0.000 0.544 -90.05° +bookshelf 3.526 2.717 0.288 0.832 0.001 -0.120 -90.17° +desk 1.841 0.798 0.960 -0.217 0.002 0.375 89.89° +chair 0.591 1.022 0.905 0.167 0.001 -0.047 -89.49° +lamp 0.870 0.601 0.874 -0.101 2.056 0.111 -0.05° +floor 2.985 -0.000 2.980 0.004 -0.000 -0.018 -0.02° +_scene_ 0.070 0.000 0.025 -5.660 -0.004 -5.700 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[1.348, 0.798, 0.269] + !! OVERLAP: bookshelf <-> floor depth=[2.141, -0.000, 0.269] + !! OVERLAP: bookshelf <-> desk depth=[1.634, 0.798, 0.129] + !! OVERLAP: bookshelf <-> chair depth=[0.591, 1.022, 0.288] + !! OVERLAP: bookshelf <-> floor depth=[2.427, -0.000, 0.288] + !! OVERLAP: desk <-> chair depth=[0.591, 0.798, 0.510] + !! OVERLAP: desk <-> floor depth=[1.841, -0.000, 0.960] + !! OVERLAP: chair <-> floor depth=[0.591, -0.000, 0.905] +============================================================ + + +============================================================ +SCENE: Library-457 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7944, Walkable Loss: 1.4168 (Center Penalty: 2.4546, C1 Heatmap: 0.3283, C2 Repulsion: 0.5819), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.433 2.426 0.392 1.183 -0.001 0.203 -90.05° +lamp 1.072 1.002 1.113 -0.217 1.573 0.031 -0.00° +table 1.312 0.705 0.460 -0.516 0.002 -0.569 0.06° +floor 3.030 0.000 3.363 -0.012 -0.000 -0.021 -0.02° +_scene_ 0.105 0.010 0.155 -5.464 -0.003 -5.614 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> lamp depth=[0.353, 0.140, 0.392] + !! OVERLAP: bookshelf <-> floor depth=[1.537, 0.000, 0.392] + !! OVERLAP: table <-> floor depth=[1.312, 0.000, 0.460] +============================================================ + + +============================================================ +SCENE: Library-123545 | 8 objects +============================================================ +Final Step Collision Loss: 0.1303, Room Outer Loss: 4.6379, Walkable Loss: 2.8263 (Center Penalty: 2.8075, C1 Heatmap: 1.3635, C2 Repulsion: 8.7719), Relational Loss: 0.0134 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.370 0.796 0.586 0.479 -0.000 -0.213 0.03° +chair 0.442 0.879 0.563 -0.498 -0.001 0.340 89.98° +bookshelf 3.870 2.432 0.281 -1.467 0.001 0.084 89.93° +bookshelf 3.342 2.272 0.204 -1.328 0.001 -0.139 89.95° +bookshelf 4.232 2.610 0.213 -1.072 -0.002 0.754 89.94° +lamp 1.253 0.877 0.407 0.244 1.941 0.319 -89.68° +floor 3.192 -0.001 3.048 -0.010 -0.000 -0.015 -0.04° +_scene_ 0.074 0.002 0.067 -5.636 -0.002 -5.649 -57.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.674, 0.796, 0.136] + !! OVERLAP: desk <-> bookshelf depth=[0.549, 0.796, 0.204] + !! OVERLAP: desk <-> floor depth=[1.370, -0.001, 0.586] + !! OVERLAP: chair <-> bookshelf depth=[0.442, 0.879, 0.166] + !! OVERLAP: chair <-> floor depth=[0.442, -0.001, 0.563] + !! OVERLAP: bookshelf <-> bookshelf depth=[3.342, 2.272, 0.020] + !! OVERLAP: bookshelf <-> floor depth=[2.074, -0.001, 0.281] + !! OVERLAP: bookshelf <-> floor depth=[1.949, -0.001, 0.204] + !! OVERLAP: bookshelf <-> floor depth=[2.650, -0.001, 0.213] +============================================================ + + +============================================================ +SCENE: Library-71638 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0561, Walkable Loss: 1.6108 (Center Penalty: 2.6978, C1 Heatmap: 0.3183, C2 Repulsion: 1.3462), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.259 0.799 0.559 -0.194 0.001 1.151 179.90° +bookshelf 0.362 1.777 0.426 1.259 0.007 0.648 -90.08° +chair 0.498 0.776 0.528 -0.386 0.000 0.435 0.06° +bookshelf 1.883 1.876 0.385 -0.683 -0.001 -0.980 0.05° +lamp 0.915 1.107 0.884 -0.035 1.923 0.025 -0.01° +floor 2.947 -0.001 3.009 0.027 0.002 0.006 -0.04° +_scene_ 0.065 0.001 0.016 -5.678 -0.004 -5.705 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.259, -0.001, 0.559] + !! OVERLAP: bookshelf <-> floor depth=[0.362, -0.001, 0.426] + !! OVERLAP: chair <-> floor depth=[0.498, -0.001, 0.528] + !! OVERLAP: bookshelf <-> floor depth=[1.706, -0.001, 0.385] +============================================================ + + +============================================================ +SCENE: Library-90753 | 6 objects +============================================================ +Final Step Collision Loss: 0.0037, Room Outer Loss: 0.7033, Walkable Loss: 2.2383 (Center Penalty: 3.2286, C1 Heatmap: 0.4342, C2 Repulsion: 4.5035), Relational Loss: 0.0139 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.655 0.870 0.792 0.866 0.001 -0.180 0.06° +desk 0.879 0.754 0.710 0.109 -0.001 -0.014 -90.12° +bookshelf 1.971 2.497 0.269 -0.950 -0.001 0.238 89.91° +lamp 0.886 1.292 0.967 -0.003 1.467 0.118 0.03° +floor 2.542 -0.000 3.108 0.005 0.000 -0.089 -0.07° +_scene_ 0.063 0.000 0.038 -5.639 -0.002 -5.676 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.010, 0.754, 0.585] + !! OVERLAP: chair <-> floor depth=[0.655, -0.000, 0.792] + !! OVERLAP: desk <-> bookshelf depth=[0.365, 0.754, 0.237] + !! OVERLAP: desk <-> floor depth=[0.879, -0.000, 0.710] + !! OVERLAP: bookshelf <-> lamp depth=[0.480, 0.426, 0.269] + !! OVERLAP: bookshelf <-> floor depth=[1.301, -0.000, 0.269] +============================================================ + + +============================================================ +SCENE: Library-8543 | 6 objects +============================================================ +Final Step Collision Loss: 0.0137, Room Outer Loss: 0.4643, Walkable Loss: 1.7876 (Center Penalty: 2.9956, C1 Heatmap: 0.3261, C2 Repulsion: 1.5931), Relational Loss: 0.0052 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.322 0.856 0.738 -0.300 0.001 -0.122 -90.00° +chair 0.479 1.001 0.529 -0.948 -0.001 -0.105 0.19° +bookshelf 1.910 2.401 0.251 1.102 -0.002 -0.069 -90.10° +lamp 0.349 0.798 0.341 0.208 1.757 0.115 -0.00° +floor 3.007 0.000 2.755 0.022 0.000 -0.005 -0.04° +_scene_ 0.065 0.003 0.025 -5.655 -0.004 -5.686 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.253, 0.856, 0.529] + !! OVERLAP: desk <-> bookshelf depth=[0.213, 0.856, 0.251] + !! OVERLAP: desk <-> floor depth=[1.322, 0.000, 0.738] + !! OVERLAP: chair <-> floor depth=[0.479, 0.000, 0.529] + !! OVERLAP: bookshelf <-> floor depth=[1.378, 0.000, 0.251] +============================================================ + + +============================================================ +SCENE: Library-28947 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3446 (Center Penalty: 2.2802, C1 Heatmap: 0.2631, C2 Repulsion: 0.9929), Relational Loss: 0.0344 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.929 1.497 0.620 -0.024 -0.000 -0.988 0.04° +chair 0.490 0.767 0.619 -0.651 -0.000 -0.277 -179.90° +lamp 0.173 0.548 0.441 -0.071 1.909 -0.159 -88.29° +floor 2.151 0.012 2.616 -0.121 0.007 -0.250 -0.31° +_scene_ -0.043 0.319 -0.069 -3.038 1.235 -3.041 -67.60° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.929, 0.012, 0.620] + !! OVERLAP: chair <-> floor depth=[0.490, 0.012, 0.619] +============================================================ + + +============================================================ +SCENE: Library-163346 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3490, Walkable Loss: 1.5316 (Center Penalty: 2.8005, C1 Heatmap: 0.1662, C2 Repulsion: 0.6489), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.029 0.711 0.502 0.065 0.002 -0.460 -89.82° +bookshelf 1.202 2.180 0.488 -0.982 0.000 -0.324 89.97° +lamp 0.591 0.652 0.613 0.011 2.354 -0.171 -0.00° +floor 2.358 0.002 2.920 -0.004 0.001 -0.081 -0.06° +_scene_ 0.038 0.072 0.019 -4.835 0.003 -5.005 -60.95° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.069, 0.711, 0.359] + !! OVERLAP: desk <-> floor depth=[1.029, 0.002, 0.502] + !! OVERLAP: bookshelf <-> floor depth=[0.802, 0.002, 0.488] +============================================================ + + +============================================================ +SCENE: Library-32140 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2748 (Center Penalty: 2.2404, C1 Heatmap: 0.2639, C2 Repulsion: 0.4904), Relational Loss: 0.0558 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.976 1.338 0.547 -0.294 0.003 -1.250 0.00° +chair 0.616 0.869 0.666 -0.808 0.002 0.094 -179.99° +lamp 0.648 0.335 0.637 -0.043 2.300 0.163 -0.05° +floor 2.525 0.002 3.230 -0.031 0.001 -0.001 0.01° +_scene_ 0.086 -0.004 0.077 -5.582 0.013 -5.610 -57.35° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.976, 0.002, 0.547] + !! OVERLAP: chair <-> floor depth=[0.616, 0.002, 0.666] +============================================================ + + +============================================================ +SCENE: Library-19891 | 9 objects +============================================================ +Final Step Collision Loss: 0.0312, Room Outer Loss: 0.0621, Walkable Loss: 1.9748 (Center Penalty: 2.3490, C1 Heatmap: 0.7754, C2 Repulsion: 4.9015), Relational Loss: 0.0274 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.769 2.476 0.438 0.421 0.000 1.327 -179.99° +desk 1.991 0.731 1.016 0.545 0.001 0.355 179.96° +chair 0.505 1.012 0.590 1.128 0.001 0.600 -179.99° +chair 0.651 1.027 0.641 -0.626 0.000 -1.292 0.39° +chair 0.588 0.962 0.579 1.483 -0.000 -1.197 0.07° +table 0.616 0.589 0.604 0.454 0.001 -1.207 0.04° +lamp 0.598 0.654 0.582 0.221 1.938 -0.304 -0.05° +floor 3.363 -0.002 3.200 0.069 0.000 0.026 -0.01° +_scene_ 0.065 0.000 0.021 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.714, -0.002, 0.438] + !! OVERLAP: desk <-> chair depth=[0.505, 0.731, 0.558] + !! OVERLAP: desk <-> floor depth=[1.991, -0.002, 1.016] + !! OVERLAP: chair <-> floor depth=[0.505, -0.002, 0.590] + !! OVERLAP: chair <-> floor depth=[0.651, -0.002, 0.602] + !! OVERLAP: chair <-> floor depth=[0.561, -0.002, 0.579] + !! OVERLAP: table <-> floor depth=[0.616, -0.002, 0.604] +============================================================ + + +============================================================ +SCENE: Library-7168 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.5781, Walkable Loss: 1.1497 (Center Penalty: 1.5699, C1 Heatmap: 0.4242, C2 Repulsion: 1.9504), Relational Loss: 0.0187 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.686 0.758 0.740 0.245 -0.000 -0.547 89.99° +bookshelf 1.175 2.649 0.347 -0.643 0.001 -0.903 0.12° +bookshelf 0.530 2.357 0.266 1.246 0.002 -0.655 -90.02° +bookshelf 1.672 2.120 0.387 0.372 0.001 1.300 179.95° +floor 2.394 0.002 3.542 -0.003 0.001 -0.137 -0.07° +_scene_ 0.145 0.251 0.302 -2.586 0.002 -2.851 -78.74° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.542, 0.758, 0.188] + !! OVERLAP: desk <-> bookshelf depth=[0.108, 0.758, 0.266] + !! OVERLAP: desk <-> floor depth=[1.686, 0.002, 0.740] + !! OVERLAP: bookshelf <-> floor depth=[1.144, 0.002, 0.347] + !! OVERLAP: bookshelf <-> floor depth=[0.213, 0.002, 0.266] + !! OVERLAP: bookshelf <-> floor depth=[1.659, 0.002, 0.387] +============================================================ + + +============================================================ +SCENE: Library-17832 | 9 objects +============================================================ +Final Step Collision Loss: 0.1428, Room Outer Loss: 0.3820, Walkable Loss: 2.4308 (Center Penalty: 2.9606, C1 Heatmap: 1.0585, C2 Repulsion: 5.2712), Relational Loss: 0.0458 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.821 0.783 2.012 0.208 -0.000 -0.427 -0.01° +chair 0.482 0.883 0.507 0.594 0.003 -0.712 89.79° +wardrobe 1.430 2.245 0.442 -1.127 -0.001 1.413 -179.78° +wardrobe 1.004 2.348 0.752 -1.645 0.002 -0.495 89.95° +wardrobe 1.067 2.194 0.506 1.541 0.002 -0.543 -90.09° +wardrobe 0.841 2.011 0.615 1.649 0.000 0.761 -179.91° +lamp 0.594 0.147 0.580 0.116 2.749 -0.052 -0.08° +floor 4.090 -0.001 3.468 -0.037 0.001 0.020 -0.03° +_scene_ 0.047 0.001 0.020 -5.666 -0.004 -5.704 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.482, 0.783, 0.507] + !! OVERLAP: desk <-> wardrobe depth=[0.059, 0.783, 0.752] + !! OVERLAP: desk <-> wardrobe depth=[0.611, 0.783, 0.506] + !! OVERLAP: desk <-> wardrobe depth=[0.390, 0.783, 0.127] + !! OVERLAP: desk <-> floor depth=[2.821, -0.001, 2.012] + !! OVERLAP: chair <-> floor depth=[0.482, -0.001, 0.507] + !! OVERLAP: wardrobe <-> floor depth=[1.430, -0.001, 0.442] + !! OVERLAP: wardrobe <-> floor depth=[0.938, -0.001, 0.752] + !! OVERLAP: wardrobe <-> floor depth=[1.001, -0.001, 0.506] + !! OVERLAP: wardrobe <-> floor depth=[0.780, -0.001, 0.615] +============================================================ + + +============================================================ +SCENE: Library-25138 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1847 (Center Penalty: 2.1749, C1 Heatmap: 0.1338, C2 Repulsion: 0.4381), Relational Loss: 0.0252 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.592 0.827 0.648 -0.229 0.001 0.929 -179.95° +chair 0.730 0.817 0.787 -0.924 -0.001 -0.153 0.01° +lamp 0.508 0.691 0.571 1.096 2.215 0.077 179.74° +lamp 0.399 0.751 0.410 -0.198 1.763 -0.051 -0.02° +floor 3.313 -0.002 4.105 0.303 -0.000 -0.354 -0.04° +_scene_ 0.069 0.002 0.024 -5.654 -0.004 -5.691 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.592, -0.002, 0.648] + !! OVERLAP: chair <-> floor depth=[0.730, -0.002, 0.787] +============================================================ + + +============================================================ +SCENE: Library-36052 | 7 objects +============================================================ +Final Step Collision Loss: 0.8101, Room Outer Loss: 5.7635, Walkable Loss: 2.9926 (Center Penalty: 2.8051, C1 Heatmap: 1.5071, C2 Repulsion: 9.8725), Relational Loss: 0.0422 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.244 2.555 0.082 0.660 0.001 -0.210 -89.94° +bookshelf 3.375 2.574 0.356 0.455 -0.006 -0.332 -89.97° +bookshelf 2.374 2.605 0.373 0.824 -0.001 -0.185 -90.05° +bookshelf 3.068 2.514 0.222 0.813 -0.003 -0.634 -90.12° +desk 1.709 0.823 1.214 -0.441 -0.000 -0.083 90.00° +floor 2.044 0.017 3.377 -0.160 0.034 -0.003 -0.67° +_scene_ 0.173 0.290 1.994 -3.302 -0.035 -2.738 -81.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[3.104, 2.555, 0.082] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.374, 2.555, 0.082] + !! OVERLAP: bookshelf <-> desk depth=[1.375, 0.823, 0.082] + !! OVERLAP: bookshelf <-> floor depth=[1.825, 0.017, 0.082] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.374, 2.574, 0.217] + !! OVERLAP: bookshelf <-> desk depth=[1.646, 0.823, 0.356] + !! OVERLAP: bookshelf <-> floor depth=[2.044, 0.017, 0.356] + !! OVERLAP: bookshelf <-> desk depth=[0.776, 0.823, 0.373] + !! OVERLAP: bookshelf <-> floor depth=[1.226, 0.017, 0.373] + !! OVERLAP: bookshelf <-> desk depth=[1.135, 0.823, 0.166] + !! OVERLAP: bookshelf <-> floor depth=[1.584, 0.017, 0.222] + !! OVERLAP: desk <-> floor depth=[1.595, 0.017, 1.214] +============================================================ + + +============================================================ +SCENE: Library-40642 | 6 objects +============================================================ +Final Step Collision Loss: 0.0616, Room Outer Loss: 0.0974, Walkable Loss: 1.4007 (Center Penalty: 2.3491, C1 Heatmap: 0.2956, C2 Repulsion: 1.0793), Relational Loss: 0.0055 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.631 0.733 0.768 -0.000 0.002 -1.193 0.05° +chair 0.555 0.915 0.525 -0.414 0.005 -0.702 -152.44° +bookshelf 0.934 2.086 0.471 0.729 -0.000 0.703 -90.10° +lamp 1.230 1.230 1.181 -0.078 1.578 0.156 0.02° +floor 2.321 -0.000 3.704 -0.008 0.001 -0.054 -0.01° +_scene_ 0.063 0.001 0.018 -5.653 -0.004 -5.705 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.555, 0.733, 0.156] + !! OVERLAP: desk <-> floor depth=[1.631, -0.000, 0.768] + !! OVERLAP: chair <-> floor depth=[0.555, -0.000, 0.525] + !! OVERLAP: bookshelf <-> lamp depth=[0.275, 0.079, 0.279] + !! OVERLAP: bookshelf <-> floor depth=[0.891, -0.000, 0.471] +============================================================ + + +============================================================ +SCENE: Library-58697 | 7 objects +============================================================ +Final Step Collision Loss: 0.0035, Room Outer Loss: 0.0508, Walkable Loss: 1.5850 (Center Penalty: 2.4693, C1 Heatmap: 0.3821, C2 Repulsion: 1.9750), Relational Loss: 0.0189 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.818 0.710 0.864 -0.286 0.002 -0.339 -0.01° +bookshelf 1.227 2.501 0.419 -1.030 0.002 1.206 -179.97° +bookshelf 0.859 2.270 0.341 0.813 -0.000 1.175 -179.95° +bookshelf 0.527 2.276 0.281 -0.256 0.002 1.184 179.99° +lamp 0.870 0.157 0.872 -0.379 2.483 -0.050 -0.03° +floor 3.602 0.000 2.721 -0.102 0.001 0.054 -0.05° +_scene_ 0.019 -0.005 0.004 -5.633 -0.001 -5.676 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.818, 0.000, 0.864] + !! OVERLAP: bookshelf <-> bookshelf depth=[0.102, 2.276, 0.281] + !! OVERLAP: bookshelf <-> floor depth=[1.227, 0.000, 0.418] + !! OVERLAP: bookshelf <-> floor depth=[0.859, 0.000, 0.341] + !! OVERLAP: bookshelf <-> floor depth=[0.527, 0.000, 0.281] +============================================================ + + +============================================================ +SCENE: Library-145994 | 10 objects +============================================================ +Final Step Collision Loss: 0.1388, Room Outer Loss: 2.1748, Walkable Loss: 3.4198 (Center Penalty: 3.1345, C1 Heatmap: 1.4284, C2 Repulsion: 12.8122), Relational Loss: 0.0234 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.135 2.080 0.269 -1.728 0.004 0.366 89.92° +bookshelf 2.023 2.065 0.314 -0.674 0.001 0.961 -179.92° +bookshelf 1.891 2.057 0.266 -1.636 0.001 0.292 89.91° +bookshelf 2.097 2.002 0.284 -1.516 0.001 0.103 89.91° +bookshelf 1.712 2.065 0.416 0.662 0.005 -0.884 -0.06° +bookshelf 1.937 2.110 0.339 0.416 -0.002 -1.132 0.06° +desk 2.627 2.826 1.290 0.103 0.003 0.196 -179.85° +lamp 0.792 0.446 0.735 -0.012 2.195 0.072 -0.00° +floor 3.801 0.001 3.122 -0.103 0.000 0.008 -0.04° +_scene_ 0.181 0.337 0.846 -2.949 0.739 -2.050 -82.63° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[1.891, 2.057, 0.194] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.904, 2.002, 0.013] + !! OVERLAP: bookshelf <-> desk depth=[0.550, 2.080, 0.269] + !! OVERLAP: bookshelf <-> floor depth=[1.343, 0.001, 0.269] + !! OVERLAP: bookshelf <-> desk depth=[1.548, 2.065, 0.037] + !! OVERLAP: bookshelf <-> floor depth=[2.023, 0.001, 0.314] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.874, 2.002, 0.085] + !! OVERLAP: bookshelf <-> desk depth=[0.520, 2.057, 0.266] + !! OVERLAP: bookshelf <-> floor depth=[1.313, 0.001, 0.266] + !! OVERLAP: bookshelf <-> desk depth=[0.744, 2.002, 0.284] + !! OVERLAP: bookshelf <-> floor depth=[1.536, 0.001, 0.284] + !! OVERLAP: bookshelf <-> bookshelf depth=[1.579, 2.065, 0.129] + !! OVERLAP: bookshelf <-> floor depth=[1.712, 0.001, 0.416] + !! OVERLAP: bookshelf <-> floor depth=[1.937, 0.001, 0.339] + !! OVERLAP: desk <-> floor depth=[2.627, 0.001, 1.290] +============================================================ + + +============================================================ +SCENE: Library-39529 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.7061, Walkable Loss: 1.9676 (Center Penalty: 3.1243, C1 Heatmap: 0.3783, C2 Repulsion: 2.5412), Relational Loss: 0.0013 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.978 2.356 0.407 1.185 -0.001 -0.339 -90.14° +desk 1.532 0.978 0.710 -0.169 -0.000 -0.242 89.96° +chair 0.609 0.824 0.686 0.699 0.002 -0.309 -90.12° +lamp 0.451 0.543 0.413 0.162 1.963 0.062 0.04° +floor 2.842 -0.001 3.256 -0.018 0.001 -0.057 -0.02° +_scene_ 0.062 -0.002 0.035 -5.649 -0.004 -5.690 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.401, 0.978, 0.407] + !! OVERLAP: bookshelf <-> chair depth=[0.609, 0.824, 0.407] + !! OVERLAP: bookshelf <-> floor depth=[1.207, -0.001, 0.407] + !! OVERLAP: desk <-> chair depth=[0.203, 0.824, 0.631] + !! OVERLAP: desk <-> floor depth=[1.532, -0.001, 0.710] + !! OVERLAP: chair <-> floor depth=[0.609, -0.001, 0.686] +============================================================ + + +============================================================ +SCENE: Library-56351 | 6 objects +============================================================ +Final Step Collision Loss: 0.9790, Room Outer Loss: 2.6356, Walkable Loss: 2.1292 (Center Penalty: 2.2214, C1 Heatmap: 1.3902, C2 Repulsion: 4.6237), Relational Loss: 0.0253 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 4.098 2.547 0.524 -0.067 0.003 1.123 -179.86° +bookshelf 4.489 2.511 0.470 -0.144 0.002 0.325 -179.90° +desk 2.202 0.767 0.779 0.532 0.006 0.700 179.98° +chair 0.562 0.785 0.577 -0.216 0.000 -0.945 0.00° +floor 3.013 -0.005 3.490 -0.012 0.001 -0.039 -0.01° +_scene_ 0.055 0.004 0.041 -5.669 -0.006 -5.699 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[2.202, 0.767, 0.229] + !! OVERLAP: bookshelf <-> floor depth=[3.013, -0.005, 0.524] + !! OVERLAP: bookshelf <-> desk depth=[2.202, 0.767, 0.249] + !! OVERLAP: bookshelf <-> floor depth=[3.013, -0.005, 0.470] + !! OVERLAP: desk <-> floor depth=[2.063, -0.005, 0.779] + !! OVERLAP: chair <-> floor depth=[0.562, -0.005, 0.577] +============================================================ + + +============================================================ +SCENE: Library-5406 | 9 objects +============================================================ +Final Step Collision Loss: 0.0204, Room Outer Loss: 0.2713, Walkable Loss: 2.1188 (Center Penalty: 3.0404, C1 Heatmap: 0.5009, C2 Repulsion: 3.9825), Relational Loss: 0.0226 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.858 0.818 0.999 0.169 0.001 -0.642 -0.02° +bookshelf 0.770 2.008 0.288 0.802 -0.000 1.373 -179.97° +bookshelf 0.960 2.172 0.372 -0.072 0.001 1.083 -179.97° +chair 0.629 0.763 0.586 -0.597 -0.000 0.033 0.03° +bookshelf 0.645 2.107 0.490 -1.458 0.006 -0.901 89.91° +bookshelf 0.785 2.102 0.355 -0.603 0.001 1.226 -179.93° +lamp 0.621 0.141 0.565 0.085 2.413 -0.075 -0.05° +floor 3.356 -0.002 2.831 -0.076 0.002 -0.087 -0.02° +_scene_ 0.068 0.049 0.180 -5.512 -0.014 -5.572 -59.74° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.478, 0.763, 0.117] + !! OVERLAP: desk <-> floor depth=[1.858, -0.002, 0.999] + !! OVERLAP: bookshelf <-> floor depth=[0.770, -0.002, 0.100] + !! OVERLAP: bookshelf <-> bookshelf depth=[0.341, 2.102, 0.220] + !! OVERLAP: bookshelf <-> floor depth=[0.960, -0.002, 0.372] + !! OVERLAP: chair <-> floor depth=[0.629, -0.002, 0.586] + !! OVERLAP: bookshelf <-> floor depth=[0.619, -0.002, 0.490] + !! OVERLAP: bookshelf <-> floor depth=[0.785, -0.002, 0.280] +============================================================ + + +============================================================ +SCENE: Library-51220 | 6 objects +============================================================ +Final Step Collision Loss: 0.0490, Room Outer Loss: 0.2378, Walkable Loss: 2.1042 (Center Penalty: 3.5223, C1 Heatmap: 0.3425, C2 Repulsion: 2.0606), Relational Loss: 0.0270 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.779 0.773 0.987 0.384 -0.004 -0.402 -90.13° +chair 0.481 0.887 0.588 -0.233 -0.001 -0.162 89.97° +bookshelf 0.949 1.736 0.450 1.031 0.002 0.086 -90.01° +lamp 0.724 0.454 0.716 -0.050 2.229 -0.072 -0.00° +floor 2.627 -0.002 2.326 -0.017 0.000 -0.034 -0.04° +_scene_ 0.068 -0.001 0.032 -5.640 -0.003 -5.687 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.481, 0.773, 0.547] + !! OVERLAP: desk <-> bookshelf depth=[0.718, 0.773, 0.231] + !! OVERLAP: desk <-> floor depth=[1.779, -0.002, 0.987] + !! OVERLAP: chair <-> floor depth=[0.481, -0.002, 0.588] + !! OVERLAP: bookshelf <-> floor depth=[0.740, -0.002, 0.450] +============================================================ + + +============================================================ +SCENE: Library-5781 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8878 (Center Penalty: 3.1914, C1 Heatmap: 0.3195, C2 Repulsion: 1.6433), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.212 0.783 0.530 0.378 0.001 0.656 179.91° +chair 0.541 0.957 0.589 -0.055 0.000 -0.351 9.46° +bookshelf 2.096 2.476 0.353 0.102 0.001 -1.226 0.01° +lamp 1.031 0.838 0.992 -0.045 1.952 0.047 0.02° +floor 2.739 -0.002 2.863 -0.004 0.001 -0.005 -0.01° +_scene_ 0.036 0.002 0.025 -5.646 -0.004 -5.694 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.212, -0.002, 0.530] + !! OVERLAP: chair <-> floor depth=[0.541, -0.002, 0.589] + !! OVERLAP: bookshelf <-> floor depth=[2.096, -0.002, 0.353] +============================================================ + + +============================================================ +SCENE: Library-123334 | 7 objects +============================================================ +Final Step Collision Loss: 0.3263, Room Outer Loss: 0.2592, Walkable Loss: 2.4126 (Center Penalty: 3.4811, C1 Heatmap: 0.7714, C2 Repulsion: 3.6353), Relational Loss: 0.0061 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.307 0.775 0.749 -0.193 0.002 -0.552 -0.02° +chair 0.540 0.816 0.598 0.078 0.001 0.214 -94.04° +bookshelf 3.101 2.615 0.333 0.139 0.001 1.659 -179.99° +bookshelf 2.664 2.536 0.490 -0.014 0.005 1.371 -180.00° +lamp 1.074 0.822 1.056 0.069 1.943 -0.195 0.02° +floor 2.734 0.001 3.583 0.004 0.001 0.024 -0.01° +_scene_ 0.072 0.001 0.036 -5.670 -0.005 -5.708 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.307, 0.001, 0.749] + !! OVERLAP: chair <-> floor depth=[0.540, 0.001, 0.598] + !! OVERLAP: bookshelf <-> bookshelf depth=[2.664, 2.536, 0.124] + !! OVERLAP: bookshelf <-> floor depth=[2.734, 0.001, 0.323] + !! OVERLAP: bookshelf <-> floor depth=[2.664, 0.001, 0.490] +============================================================ + + +============================================================ +SCENE: Library-1511 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0764, Walkable Loss: 1.6633 (Center Penalty: 2.9415, C1 Heatmap: 0.2652, C2 Repulsion: 0.8646), Relational Loss: 0.0000 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.770 1.160 0.875 0.088 0.001 -0.159 89.80° +chair 0.548 0.807 0.569 1.237 0.000 -0.174 -89.96° +lamp 0.536 0.233 0.527 -0.082 2.378 0.090 -0.02° +floor 2.813 -0.002 3.290 -0.016 -0.000 -0.020 0.01° +_scene_ 0.058 0.004 0.031 -5.655 -0.003 -5.660 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.011, 0.807, 0.569] + !! OVERLAP: desk <-> floor depth=[1.770, -0.002, 0.875] + !! OVERLAP: chair <-> floor depth=[0.428, -0.002, 0.569] +============================================================ + + +============================================================ +SCENE: Library-74566 | 6 objects +============================================================ +Final Step Collision Loss: 0.5665, Room Outer Loss: 0.4782, Walkable Loss: 2.0773 (Center Penalty: 3.0436, C1 Heatmap: 0.6683, C2 Repulsion: 2.8824), Relational Loss: 0.0532 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.662 2.140 0.880 -0.273 0.004 -0.330 89.73° +desk 1.691 0.731 0.801 -0.316 0.001 -1.213 -0.01° +chair 0.684 0.858 0.723 -0.862 -0.000 -0.138 89.91° +lamp 0.604 0.366 0.614 -0.071 2.375 0.002 -0.04° +floor 2.195 0.002 3.219 0.006 0.000 0.036 -0.03° +_scene_ 0.063 0.002 0.021 -5.669 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> chair depth=[0.684, 0.858, 0.610] + !! OVERLAP: wardrobe <-> floor depth=[2.149, 0.002, 0.880] + !! OVERLAP: desk <-> floor depth=[1.621, 0.002, 0.762] + !! OVERLAP: chair <-> floor depth=[0.571, 0.002, 0.723] +============================================================ + + +============================================================ +SCENE: Library-35695 | 9 objects +============================================================ +Final Step Collision Loss: 0.0170, Room Outer Loss: 0.0107, Walkable Loss: 2.4160 (Center Penalty: 3.2662, C1 Heatmap: 0.6997, C2 Repulsion: 5.0308), Relational Loss: 0.0343 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.021 2.742 0.283 0.786 0.001 -1.533 -0.02° +bookshelf 2.358 2.478 0.330 -0.935 -0.002 -1.248 0.02° +desk 1.332 0.760 0.634 0.163 -0.001 0.155 179.94° +chair 0.489 0.997 0.554 0.208 0.001 -0.544 0.09° +table 1.100 0.901 0.442 1.762 -0.001 -0.066 -90.09° +chair 0.810 0.927 0.880 -1.416 -0.000 1.188 168.69° +lamp 0.582 0.923 0.486 -0.206 2.047 0.280 -0.03° +floor 4.833 -0.005 3.398 -0.056 -0.001 0.084 -0.07° +_scene_ 0.065 0.001 0.021 -5.670 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> bookshelf depth=[0.468, 2.478, 0.022] + !! OVERLAP: bookshelf <-> floor depth=[2.021, -0.005, 0.223] + !! OVERLAP: bookshelf <-> floor depth=[2.358, -0.005, 0.330] + !! OVERLAP: desk <-> floor depth=[1.332, -0.005, 0.634] + !! OVERLAP: chair <-> floor depth=[0.489, -0.005, 0.554] + !! OVERLAP: table <-> floor depth=[1.100, -0.005, 0.442] + !! OVERLAP: chair <-> floor depth=[0.810, -0.005, 0.880] +============================================================ + + +============================================================ +SCENE: Library-934 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1166, Walkable Loss: 1.6131 (Center Penalty: 2.1738, C1 Heatmap: 0.6490, C2 Repulsion: 2.6664), Relational Loss: 0.0236 +Guided Steps: 100/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.588 0.749 0.610 0.033 2.143 -0.117 -0.03° +desk 1.486 0.745 0.587 -0.440 0.002 -1.134 -0.04° +bookshelf 3.151 1.666 0.470 0.544 -0.005 1.170 179.98° +chair 0.475 0.968 0.529 -1.109 -0.004 -0.142 136.77° +chair 0.629 1.009 0.742 1.205 0.000 -0.644 -90.08° +table 0.506 0.719 0.487 1.399 0.003 0.489 179.98° +floor 3.740 -0.001 2.954 0.019 0.001 -0.010 -0.02° +_scene_ 0.070 -0.000 0.020 -5.672 -0.005 -5.715 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.486, -0.001, 0.587] + !! OVERLAP: bookshelf <-> floor depth=[2.921, -0.001, 0.470] + !! OVERLAP: chair <-> floor depth=[0.475, -0.001, 0.529] + !! OVERLAP: chair <-> floor depth=[0.629, -0.001, 0.742] + !! 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