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b/current_works/work_39/2050/relational_accuracy_report.txt new file mode 100644 index 0000000000000000000000000000000000000000..5565ae33b0f6e7ceff050b5997a49f772c61dc1a --- /dev/null +++ b/current_works/work_39/2050/relational_accuracy_report.txt @@ -0,0 +1,17 @@ +=========================================================================== + RELATIONAL ACCURACY EVALUATION REPORT + Source Path: /Volumes/ExternalSSD/current_works/work_39/2050/physcene_collision_resolved.json + Evaluated Scenes: 370 / 370 +=========================================================================== + Total Accuracy (Micro-Average): 92.37% + Means of Means (Macro-Average): 82.51% +--------------------------------------------------------------------------- + Category Breakdown: + - Left / Right (L/R) : 99.45% (Left: 99.29%, Right: 99.60%) + - Front / Behind (F/B) : 99.72% (Front: 99.80%, Behind: 99.63%) + - Bigger / Smaller (Bi/Sm) : 84.99% (Bigger: 87.02%, Smaller: 82.97%) + - Taller / Shorter (Ta/Sh) : 96.35% (Taller: 96.30%, Shorter: 96.41%) + - Standing On : 95.16% + - Close By : 55.77% + - Symmetrical To : 46.12% +=========================================================================== diff --git a/current_works/work_39/extracted/2050/debug_bbox.txt b/current_works/work_39/extracted/2050/debug_bbox.txt new file mode 100644 index 0000000000000000000000000000000000000000..bec6d5f087bf2b7586c3d7afba1ad920f54b31d5 --- /dev/null +++ b/current_works/work_39/extracted/2050/debug_bbox.txt @@ -0,0 +1,10423 @@ + +============================================================ +SCENE: MasterBedroom-33296 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1381, Walkable Loss: 1.0166 (Center Penalty: 0.3516, C1 Heatmap: 0.3894, C2 Repulsion: 1.7674), Relational Loss: 0.0304 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.996 1.040 0.229 -2.317 0.002 -1.039 -0.16° +nightstand 0.552 0.559 0.143 -0.174 -0.012 -1.153 0.17° +chair 0.271 0.426 0.338 -2.169 -0.009 -0.490 -89.88° +bed 0.742 1.494 0.475 -1.382 -0.069 -0.314 -0.88° +cabinet 0.784 1.020 0.364 -2.170 0.002 1.223 -179.98° +lamp 0.663 0.862 0.651 -1.250 1.948 0.070 -0.02° +wardrobe 2.695 2.356 0.178 0.631 -0.013 0.907 -90.40° +floor 5.854 0.001 2.906 -0.940 -0.002 0.333 0.08° +_scene_ 0.068 -0.000 0.020 -5.671 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.996, 0.001, 0.195] + !! OVERLAP: nightstand <-> floor depth=[0.552, 0.001, 0.039] + !! OVERLAP: chair <-> floor depth=[0.271, 0.001, 0.338] + !! OVERLAP: bed <-> floor depth=[0.742, 0.001, 0.475] + !! OVERLAP: cabinet <-> floor depth=[0.784, 0.001, 0.364] + !! OVERLAP: wardrobe <-> floor depth=[2.695, 0.001, 0.178] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9404 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7780 (Center Penalty: 1.1239, C1 Heatmap: 0.3043, C2 Repulsion: 2.0531), Relational Loss: 0.0317 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.071 1.444 -0.208 0.829 -0.046 -0.846 -90.84° +wardrobe 1.513 2.386 -0.380 0.360 -0.049 -1.351 0.16° +wardrobe 1.950 2.300 -0.055 0.236 -0.003 -1.886 0.60° +nightstand 0.464 0.665 0.484 1.451 0.000 1.576 -89.94° +nightstand 0.558 0.597 0.255 1.416 0.002 -1.101 -90.04° +tv_stand 1.682 0.445 0.300 -0.980 -0.001 0.730 90.35° +floor 3.599 -0.001 4.443 -0.067 0.000 -0.011 -0.01° +_scene_ 0.076 0.000 0.025 -5.672 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.071, -0.001, -0.208] + !! OVERLAP: wardrobe <-> floor depth=[1.513, -0.001, -0.380] + !! OVERLAP: wardrobe <-> floor depth=[1.950, -0.001, -0.055] + !! OVERLAP: nightstand <-> floor depth=[0.464, -0.001, 0.484] + !! OVERLAP: nightstand <-> floor depth=[0.558, -0.001, 0.255] + !! OVERLAP: tv_stand <-> floor depth=[1.682, -0.001, 0.300] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30034 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9293 (Center Penalty: 1.3596, C1 Heatmap: 0.4101, C2 Repulsion: 1.2083), Relational Loss: 0.0124 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.566 1.023 1.750 0.623 -0.017 0.864 -90.84° +nightstand 0.481 0.574 0.446 1.246 0.000 1.401 -89.93° +nightstand 0.435 0.510 0.366 1.297 0.001 -1.225 -90.19° +lamp 0.736 0.834 0.256 0.484 2.048 0.671 -0.04° +floor 3.064 0.000 3.476 0.000 0.000 0.012 -0.00° +_scene_ 0.069 0.002 0.020 -5.665 -0.004 -5.707 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.400, 0.574, 0.446] + !! OVERLAP: bed <-> floor depth=[1.566, 0.000, 1.750] + !! OVERLAP: nightstand <-> floor depth=[0.481, 0.000, 0.446] + !! OVERLAP: nightstand <-> floor depth=[0.435, 0.000, 0.366] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6482 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1521 (Center Penalty: 0.4406, C1 Heatmap: 0.3519, C2 Repulsion: 2.1505), Relational Loss: 0.0083 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.968 1.026 1.402 -1.247 -0.008 -0.715 0.68° +chair 0.604 0.902 0.685 -1.450 0.002 1.566 136.49° +nightstand 0.643 0.758 0.483 -1.510 -0.001 -1.143 0.06° +table 0.787 0.645 0.473 -1.375 -0.002 1.615 89.89° +wardrobe 0.191 2.054 0.362 0.617 0.005 -1.102 -91.30° +lamp 0.612 0.297 0.326 -0.648 2.553 0.439 -0.27° +floor 3.478 0.042 4.719 -0.751 0.016 0.804 -0.48° +_scene_ 0.069 0.000 0.022 -5.671 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.542, 0.758, 0.483] + !! OVERLAP: bed <-> floor depth=[0.968, 0.042, 1.402] + !! OVERLAP: chair <-> table depth=[0.604, 0.645, 0.473] + !! OVERLAP: chair <-> floor depth=[0.604, 0.042, 0.685] + !! OVERLAP: nightstand <-> floor depth=[0.643, 0.042, 0.483] + !! OVERLAP: table <-> floor depth=[0.787, 0.042, 0.473] + !! OVERLAP: wardrobe <-> floor depth=[0.191, 0.042, 0.362] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11167 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0336, Walkable Loss: 1.0123 (Center Penalty: 0.4667, C1 Heatmap: 0.2439, C2 Repulsion: 1.7527), Relational Loss: 0.0674 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.577 2.145 1.244 -0.978 0.062 0.575 86.38° +cabinet 0.978 0.956 0.278 -1.134 0.003 -1.252 0.00° +table 0.576 1.483 0.552 0.865 -0.006 1.249 -89.33° +lamp 0.099 0.724 0.138 0.281 0.799 1.684 0.04° +lamp 0.407 0.843 0.684 -0.542 1.957 0.703 0.22° +nightstand 0.359 0.680 0.258 -1.425 0.003 1.546 89.97° +nightstand 0.508 0.701 0.356 -1.275 0.014 -0.864 90.09° +floor 3.182 -0.014 4.461 -0.398 -0.020 0.873 0.67° +_scene_ 0.070 0.000 0.023 -5.673 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.577, -0.014, 1.244] + !! OVERLAP: cabinet <-> floor depth=[0.978, -0.014, 0.244] + !! OVERLAP: table <-> floor depth=[0.576, -0.014, 0.552] + !! OVERLAP: nightstand <-> floor depth=[0.359, -0.014, 0.258] + !! OVERLAP: nightstand <-> floor depth=[0.508, -0.014, 0.356] +============================================================ + + +============================================================ +SCENE: MasterBedroom-27127 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8515 (Center Penalty: 1.1614, C1 Heatmap: 0.2287, C2 Repulsion: 2.5357), Relational Loss: 0.0375 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed -0.217 1.055 0.637 1.197 -0.084 0.676 174.98° +nightstand 0.571 0.588 0.511 -1.287 -0.000 -0.198 -0.02° +nightstand 0.381 0.496 0.301 0.836 0.001 0.744 89.90° +wardrobe 1.582 2.338 0.262 -1.340 0.015 -0.137 89.69° +desk 1.045 1.156 0.387 1.548 0.016 0.244 -90.03° +floor 4.289 -0.002 2.617 -0.073 -0.001 0.002 -0.09° +_scene_ 0.051 0.003 0.014 -5.672 -0.005 -5.721 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[-0.217, 1.006, 0.080] + !! OVERLAP: bed <-> floor depth=[-0.217, -0.002, 0.637] + !! OVERLAP: nightstand <-> wardrobe depth=[0.571, 0.588, 0.262] + !! OVERLAP: nightstand <-> floor depth=[0.571, -0.002, 0.511] + !! OVERLAP: nightstand <-> floor depth=[0.381, -0.002, 0.301] + !! OVERLAP: wardrobe <-> floor depth=[1.582, -0.002, 0.262] + !! OVERLAP: desk <-> floor depth=[1.045, -0.002, 0.387] +============================================================ + + +============================================================ +SCENE: MasterBedroom-75552 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0461, Walkable Loss: 1.6878 (Center Penalty: 1.2202, C1 Heatmap: 0.5337, C2 Repulsion: 0.2029), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.269 0.901 1.857 0.477 -0.002 -0.860 -89.79° +wardrobe 2.007 2.493 0.592 0.286 0.003 1.620 179.98° +lamp 0.591 0.602 0.666 -0.158 1.948 -0.923 0.10° +floor 2.801 -0.005 4.200 -0.023 0.001 -0.230 -0.03° +_scene_ 0.070 0.001 0.020 -5.674 -0.003 -5.710 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.269, -0.005, 1.857] + !! OVERLAP: wardrobe <-> floor depth=[2.007, -0.005, 0.546] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19119 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0469, Walkable Loss: 1.3220 (Center Penalty: 0.5339, C1 Heatmap: 0.5705, C2 Repulsion: 1.6585), Relational Loss: 0.0173 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.350 0.860 1.853 -0.799 -0.001 0.559 90.15° +wardrobe 1.583 2.268 0.458 -0.752 0.000 -1.013 0.14° +nightstand 0.394 0.634 0.370 -1.439 -0.001 1.667 90.08° +tv_stand 1.296 0.438 0.298 1.626 0.002 0.662 -90.00° +lamp 0.526 0.739 0.547 -0.326 1.930 0.972 -0.07° +floor 3.863 -0.003 4.260 0.328 0.012 0.807 0.28° +_scene_ 0.066 -0.000 0.022 -5.668 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.231, 0.634, 0.003] + !! OVERLAP: bed <-> floor depth=[1.350, -0.003, 1.853] + !! OVERLAP: wardrobe <-> floor depth=[1.583, -0.003, 0.458] + !! OVERLAP: nightstand <-> floor depth=[0.361, -0.003, 0.370] + !! OVERLAP: tv_stand <-> floor depth=[1.282, -0.003, 0.298] +============================================================ + + +============================================================ +SCENE: Bedroom-2719 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0931, Walkable Loss: 2.4973 (Center Penalty: 1.3309, C1 Heatmap: 0.5979, C2 Repulsion: 3.4406), Relational Loss: 0.0062 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.405 0.513 0.410 -1.062 0.001 -1.521 0.05° +bookshelf 1.801 2.187 0.379 -0.683 0.011 -1.059 87.41° +table 0.730 1.262 0.333 -1.157 0.002 1.062 89.93° +bed 1.586 0.840 1.726 -0.706 0.003 0.806 90.92° +lamp 0.708 0.567 0.493 0.435 2.457 -0.881 -0.10° +chair 0.455 0.851 0.520 1.015 0.001 -0.740 -90.01° +floor 3.114 -0.001 3.455 0.011 0.001 0.058 -0.03° +_scene_ 0.073 0.001 0.022 -5.671 -0.004 -5.715 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.405, -0.001, 0.354] + !! OVERLAP: bookshelf <-> floor depth=[1.764, -0.001, 0.379] + !! OVERLAP: table <-> bed depth=[0.707, 0.840, 0.333] + !! OVERLAP: table <-> floor depth=[0.730, -0.001, 0.333] + !! OVERLAP: bed <-> floor depth=[1.586, -0.001, 1.726] + !! OVERLAP: chair <-> floor depth=[0.455, -0.001, 0.520] +============================================================ + + +============================================================ +SCENE: Bedroom-430 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0313, Walkable Loss: 0.7908 (Center Penalty: 0.5998, C1 Heatmap: 0.1676, C2 Repulsion: 0.2849), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.069 1.342 1.027 0.426 0.046 -1.171 93.91° +table 0.244 0.397 0.274 -0.895 -0.010 0.136 89.59° +table 0.119 0.603 0.416 -0.912 0.034 -1.434 90.92° +lamp 0.726 0.770 0.622 -0.370 2.167 -0.916 -0.10° +floor 2.765 -0.021 3.395 0.397 0.028 -0.781 0.51° +_scene_ 0.109 0.001 0.131 -5.537 0.002 -5.612 -57.57° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.069, -0.021, 1.027] + !! OVERLAP: table <-> floor depth=[0.212, -0.021, 0.274] + !! OVERLAP: table <-> floor depth=[0.119, -0.021, 0.416] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18415 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1875, Walkable Loss: 0.7148 (Center Penalty: 0.3319, C1 Heatmap: 0.3587, C2 Repulsion: 0.4798), Relational Loss: 0.0398 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.709 0.600 0.812 -1.317 0.001 0.805 92.65° +nightstand 0.493 0.810 0.357 -1.537 0.001 -0.433 89.93° +nightstand 0.391 0.644 0.367 -1.521 0.002 1.952 90.18° +wardrobe 1.966 2.509 0.239 -0.504 -0.000 -1.486 0.20° +tv_stand 1.310 0.370 0.375 1.126 -0.006 0.844 -90.04° +lamp 0.696 0.861 0.721 -0.265 1.870 1.022 0.07° +floor 3.377 -0.018 5.077 -0.029 -0.023 0.920 0.22° +_scene_ 0.070 -0.001 0.024 -5.674 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.709, -0.018, 0.812] + !! OVERLAP: nightstand <-> floor depth=[0.428, -0.018, 0.357] + !! OVERLAP: nightstand <-> floor depth=[0.391, -0.018, 0.367] + !! OVERLAP: wardrobe <-> floor depth=[1.966, -0.018, 0.239] + !! OVERLAP: tv_stand <-> floor depth=[1.188, -0.018, 0.375] +============================================================ + + +============================================================ +SCENE: SecondBedroom-1145 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8779 (Center Penalty: 0.3058, C1 Heatmap: 0.3696, C2 Repulsion: 1.3822), Relational Loss: 0.0427 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.484 1.201 1.545 -0.996 -0.022 -0.970 0.70° +nightstand 0.574 0.594 0.550 -1.492 0.001 -1.288 0.02° +nightstand 0.482 0.564 0.424 0.573 -0.001 -1.424 -0.04° +lamp 0.763 0.583 0.924 -1.107 2.524 0.218 0.07° +floor 4.071 0.000 2.804 -0.814 0.009 -0.385 -0.40° +_scene_ 0.065 -0.000 0.017 -5.670 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.534, 0.594, 0.550] + !! OVERLAP: bed <-> floor depth=[1.484, 0.000, 1.545] + !! OVERLAP: nightstand <-> floor depth=[0.574, 0.000, 0.550] + !! OVERLAP: nightstand <-> floor depth=[0.482, 0.000, 0.424] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2787 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6969 (Center Penalty: 0.4137, C1 Heatmap: 0.2342, C2 Repulsion: 0.4795), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.569 0.832 1.423 -0.372 0.002 -1.371 92.29° +nightstand 0.226 0.518 0.615 -0.848 0.006 -0.398 90.39° +desk 1.107 1.092 0.460 1.442 -0.000 -0.279 -89.92° +lamp 0.171 0.465 0.170 -0.495 2.230 -0.812 90.34° +floor 3.676 0.026 2.945 0.835 -0.014 -0.918 0.08° +_scene_ 0.070 0.001 0.020 -5.667 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.569, 0.026, 1.423] + !! OVERLAP: nightstand <-> floor depth=[0.226, 0.026, 0.615] + !! OVERLAP: desk <-> floor depth=[1.107, 0.026, 0.460] +============================================================ + + +============================================================ +SCENE: Bedroom-87322 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0566, Walkable Loss: 1.2292 (Center Penalty: 0.5485, C1 Heatmap: 0.3696, C2 Repulsion: 1.9252), Relational Loss: 0.0242 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.983 1.332 1.384 1.315 -0.029 -0.830 -91.99° +nightstand 0.400 0.797 0.157 1.822 0.002 0.376 -89.65° +chair 0.882 0.560 0.484 -0.107 0.002 -1.344 -90.23° +wardrobe 1.200 2.254 0.131 1.188 0.014 0.815 179.37° +tv_stand 0.960 0.522 0.374 -1.113 0.008 -0.961 90.99° +lamp 0.525 0.431 0.015 0.388 2.072 0.725 0.10° +lamp 0.684 0.172 0.685 0.394 2.430 -0.974 0.39° +floor 3.565 -0.018 3.917 0.246 -0.006 -1.008 -1.71° +_scene_ 0.068 -0.000 0.022 -5.672 -0.004 -5.714 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.983, -0.018, 1.384] + !! OVERLAP: nightstand <-> floor depth=[0.400, -0.018, 0.157] + !! OVERLAP: chair <-> floor depth=[0.882, -0.018, 0.484] + !! OVERLAP: wardrobe <-> floor depth=[1.200, -0.018, 0.131] + !! OVERLAP: tv_stand <-> floor depth=[0.903, -0.018, 0.374] +============================================================ + + +============================================================ +SCENE: Bedroom-68718 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0155, Walkable Loss: 1.6031 (Center Penalty: 1.1755, C1 Heatmap: 0.2278, C2 Repulsion: 1.2268), Relational Loss: 0.0464 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.114 1.524 -0.022 -0.111 0.087 -1.666 -1.58° +nightstand 0.552 0.563 0.303 -1.002 0.001 -1.586 -0.07° +nightstand 0.591 0.516 0.441 0.937 0.001 -1.375 0.00° +wardrobe 1.906 2.300 0.094 -0.154 -0.001 1.534 179.42° +lamp 0.323 1.149 0.468 -0.367 1.497 -0.887 0.94° +floor 3.266 -0.001 3.460 -0.002 -0.000 0.008 -0.01° +_scene_ 0.071 -0.001 0.021 -5.669 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.114, -0.001, -0.022] + !! OVERLAP: nightstand <-> floor depth=[0.552, -0.001, 0.288] + !! OVERLAP: nightstand <-> floor depth=[0.591, -0.001, 0.441] + !! OVERLAP: wardrobe <-> floor depth=[1.906, -0.001, 0.094] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35821 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0619, Walkable Loss: 1.4806 (Center Penalty: 0.7456, C1 Heatmap: 0.3412, C2 Repulsion: 2.3102), Relational Loss: 0.0062 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.668 1.162 1.049 -1.268 0.056 -0.566 93.60° +nightstand 0.469 0.570 0.351 -1.775 0.002 0.964 90.01° +nightstand 0.393 0.530 0.381 -1.597 -0.004 -1.274 89.89° +tv_stand 1.150 0.358 0.070 0.682 -0.009 -0.954 -90.57° +lamp 0.855 0.727 0.968 -0.726 1.807 -0.601 -0.12° +chair 1.439 0.886 0.722 -0.570 0.008 0.576 90.11° +floor 3.813 0.016 3.411 -0.712 -0.015 -0.496 -0.68° +_scene_ 0.068 -0.000 0.020 -5.672 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.201, 0.530, 0.006] + !! OVERLAP: bed <-> floor depth=[0.668, 0.016, 1.049] + !! OVERLAP: nightstand <-> floor depth=[0.469, 0.016, 0.351] + !! OVERLAP: nightstand <-> floor depth=[0.393, 0.016, 0.381] + !! OVERLAP: tv_stand <-> floor depth=[1.088, 0.016, 0.070] + !! OVERLAP: chair <-> floor depth=[1.439, 0.016, 0.722] +============================================================ + + +============================================================ +SCENE: Bedroom-18055 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4654 (Center Penalty: 1.1591, C1 Heatmap: 0.2783, C2 Repulsion: 0.4186), Relational Loss: 0.0313 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.620 0.988 1.209 0.931 -0.010 -0.532 -92.10° +wardrobe 1.772 2.312 0.227 0.448 -0.001 2.135 -179.90° +nightstand 0.520 0.514 0.443 1.105 -0.001 0.907 -89.98° +nightstand 0.391 0.655 0.381 1.011 0.002 -1.686 -89.89° +lamp 0.686 0.767 0.316 0.961 1.865 0.858 0.52° +lamp 0.272 0.785 0.296 0.911 1.693 -1.331 -0.02° +floor 2.917 -0.001 4.653 -0.004 0.001 -0.002 -0.05° +_scene_ 0.069 -0.000 0.018 -5.673 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.620, -0.001, 1.209] + !! OVERLAP: wardrobe <-> floor depth=[1.772, -0.001, 0.227] + !! OVERLAP: nightstand <-> floor depth=[0.520, -0.001, 0.443] + !! OVERLAP: nightstand <-> floor depth=[0.391, -0.001, 0.381] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19262 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0837 (Center Penalty: 0.5352, C1 Heatmap: 0.5230, C2 Repulsion: 0.6505), Relational Loss: 0.0005 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.548 0.923 1.341 -1.047 0.013 0.712 -179.26° +tv_stand 2.242 0.622 0.393 -0.828 -0.000 -1.404 0.03° +wardrobe 0.714 2.357 0.375 0.798 -0.008 0.870 -90.56° +lamp 0.582 0.818 0.457 -0.753 1.849 0.474 179.98° +floor 3.982 0.029 3.606 -0.804 0.007 -0.322 0.37° +_scene_ 0.068 0.002 0.019 -5.669 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.548, 0.029, 1.341] + !! OVERLAP: tv_stand <-> floor depth=[2.242, 0.029, 0.393] + !! OVERLAP: wardrobe <-> floor depth=[0.714, 0.029, 0.375] +============================================================ + + +============================================================ +SCENE: Bedroom-12864 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1018, Walkable Loss: 1.9801 (Center Penalty: 1.4839, C1 Heatmap: 0.3506, C2 Repulsion: 1.0785), Relational Loss: 0.0641 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.078 2.283 0.393 0.781 0.023 -0.470 -90.94° +bed 0.367 0.935 1.567 -1.153 -0.020 -0.069 89.62° +nightstand 0.471 0.484 0.414 -1.339 0.005 -1.163 90.07° +nightstand 0.459 0.478 0.272 -1.446 -0.001 0.873 90.03° +lamp 0.406 0.961 0.465 -0.867 1.750 0.080 0.04° +floor 3.430 -0.002 3.429 0.003 0.000 0.008 -0.03° +_scene_ 0.067 0.001 0.020 -5.671 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.976, -0.002, 0.393] + !! OVERLAP: bed <-> floor depth=[0.367, -0.002, 1.567] + !! OVERLAP: nightstand <-> floor depth=[0.471, -0.002, 0.414] + !! OVERLAP: nightstand <-> floor depth=[0.459, -0.002, 0.272] +============================================================ + + +============================================================ +SCENE: SecondBedroom-266050 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9875 (Center Penalty: 0.4017, C1 Heatmap: 0.3633, C2 Repulsion: 1.4757), Relational Loss: 0.0313 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.393 0.678 0.716 1.321 -0.003 0.107 -89.74° +bed 0.772 1.047 1.694 -0.969 -0.007 0.582 90.40° +nightstand -0.209 0.862 0.741 -1.353 -0.048 -0.261 88.45° +nightstand 0.225 0.608 0.362 -1.196 -0.002 1.413 89.68° +floor 3.831 -0.004 4.365 0.436 -0.004 0.681 0.04° +_scene_ 0.080 0.001 0.028 -5.668 -0.005 -5.709 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.393, -0.004, 0.716] + !! OVERLAP: bed <-> nightstand depth=[0.225, 0.608, 0.197] + !! OVERLAP: bed <-> floor depth=[0.772, -0.004, 1.694] + !! OVERLAP: nightstand <-> floor depth=[-0.209, -0.004, 0.741] + !! OVERLAP: nightstand <-> floor depth=[0.225, -0.004, 0.362] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12352 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6217 (Center Penalty: 0.2213, C1 Heatmap: 0.2335, C2 Repulsion: 1.0678), Relational Loss: 0.0482 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.896 1.031 1.443 -1.238 0.012 0.275 90.38° +nightstand 0.477 0.659 0.363 -1.215 0.004 -0.816 89.88° +nightstand 0.515 0.728 0.391 -1.334 0.002 1.479 90.03° +lamp 0.485 0.990 0.382 -0.379 1.753 0.956 -0.19° +floor 2.576 0.012 4.704 -0.544 -0.006 1.112 -2.22° +_scene_ 0.070 -0.000 0.020 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.896, 0.012, 1.443] + !! OVERLAP: nightstand <-> floor depth=[0.477, 0.012, 0.363] + !! OVERLAP: nightstand <-> floor depth=[0.515, 0.012, 0.391] +============================================================ + + +============================================================ +SCENE: MasterBedroom-7894 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0659 (Center Penalty: 0.7583, C1 Heatmap: 0.1283, C2 Repulsion: 1.0245), Relational Loss: 0.0172 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed -0.156 0.699 1.377 -0.632 -0.030 1.554 88.88° +nightstand 0.569 0.572 0.244 -1.338 0.001 1.922 90.18° +lamp 1.164 0.947 0.038 -0.051 1.901 0.849 89.79° +wardrobe 1.533 2.464 0.057 -0.523 -0.004 0.777 0.94° +floor 3.242 0.014 4.385 -0.146 -0.003 0.713 -0.08° +_scene_ 0.068 0.002 0.018 -5.673 -0.005 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[-0.156, 0.014, 1.377] + !! OVERLAP: nightstand <-> floor depth=[0.569, 0.014, 0.244] + !! OVERLAP: wardrobe <-> floor depth=[1.533, 0.014, 0.057] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118594 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0195, Walkable Loss: 1.3239 (Center Penalty: 0.5186, C1 Heatmap: 0.7494, C2 Repulsion: 1.0292), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.313 0.589 0.359 0.002 2.415 -0.921 0.06° +bed 1.512 1.134 1.682 0.293 0.000 -0.962 -90.61° +bookshelf 3.382 2.618 0.258 -0.768 0.001 1.532 179.78° +wardrobe 1.436 1.937 0.249 -1.399 0.011 -0.938 89.73° +floor 3.644 -0.004 4.259 -0.792 -0.004 -0.429 -0.63° +_scene_ 0.068 -0.000 0.023 -5.669 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.493, -0.004, 1.682] + !! OVERLAP: bookshelf <-> floor depth=[3.382, -0.004, 0.258] + !! OVERLAP: wardrobe <-> floor depth=[1.436, -0.004, 0.249] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6399 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0394 (Center Penalty: 0.4795, C1 Heatmap: 0.2523, C2 Repulsion: 1.7902), Relational Loss: 0.0157 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.278 2.472 0.652 1.082 -0.008 -1.009 -92.03° +bed 0.852 0.688 1.289 -0.733 -0.008 -0.585 -0.56° +table 1.080 1.322 0.255 -1.612 -0.004 -1.288 -0.02° +chair 0.229 0.490 0.390 -1.674 0.005 -0.517 179.76° +lamp 0.443 0.728 0.553 -1.058 2.026 -0.168 -0.80° +floor 4.336 0.008 3.129 -0.781 -0.007 -0.464 0.19° +_scene_ 0.068 0.000 0.018 -5.668 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.278, 0.008, 0.652] + !! OVERLAP: bed <-> table depth=[0.087, 0.688, 0.068] + !! OVERLAP: bed <-> floor depth=[0.852, 0.008, 1.289] + !! OVERLAP: table <-> floor depth=[1.080, 0.008, 0.255] + !! OVERLAP: chair <-> floor depth=[0.229, 0.008, 0.390] +============================================================ + + +============================================================ +SCENE: SecondBedroom-52584 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7546 (Center Penalty: 1.2635, C1 Heatmap: 0.3639, C2 Repulsion: 1.0000), Relational Loss: 0.0066 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.081 0.939 1.049 -0.024 2.005 -0.895 0.08° +bed 1.305 1.287 1.824 0.795 -0.000 -0.874 -91.19° +table 0.694 0.635 0.447 1.164 0.001 -1.298 -90.14° +floor 3.258 -0.004 4.050 -0.006 0.001 -0.023 -0.03° +_scene_ 0.055 0.004 0.013 -5.655 -0.005 -5.724 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.631, 0.635, 0.447] + !! OVERLAP: bed <-> floor depth=[1.305, -0.004, 1.824] + !! OVERLAP: table <-> floor depth=[0.694, -0.004, 0.447] +============================================================ + + +============================================================ +SCENE: SecondBedroom-860 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2764 (Center Penalty: 0.3044, C1 Heatmap: 0.3928, C2 Repulsion: 3.2890), Relational Loss: 0.0440 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.437 0.964 1.623 -0.310 -0.009 -0.993 -0.24° +nightstand 0.367 0.558 0.356 0.985 0.001 -1.302 0.03° +nightstand 0.458 0.539 0.438 -1.510 0.000 -1.374 0.02° +wardrobe 0.556 2.493 0.501 0.560 -0.055 -1.582 -89.27° +lamp 1.101 0.952 0.553 -1.067 1.927 -0.137 0.17° +floor 4.409 -0.028 3.144 -0.991 0.007 -0.517 1.25° +_scene_ 0.067 0.001 0.020 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.126, 0.964, 0.472] + !! OVERLAP: bed <-> floor depth=[1.437, -0.028, 1.623] + !! OVERLAP: nightstand <-> wardrobe depth=[0.037, 0.558, 0.148] + !! OVERLAP: nightstand <-> floor depth=[0.367, -0.028, 0.356] + !! OVERLAP: nightstand <-> floor depth=[0.458, -0.028, 0.438] + !! OVERLAP: wardrobe <-> floor depth=[0.556, -0.028, 0.501] +============================================================ + + +============================================================ +SCENE: MasterBedroom-514 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0289 (Center Penalty: 0.5235, C1 Heatmap: 0.3818, C2 Repulsion: 1.0000), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.510 0.534 0.502 0.805 0.001 -0.383 0.01° +bed 1.589 1.093 1.661 0.747 0.016 -0.766 0.92° +lamp 0.959 0.930 0.991 0.433 1.815 -1.056 -0.34° +floor 2.434 -0.028 3.141 0.435 0.007 -0.882 0.48° +_scene_ 0.070 0.000 0.019 -5.675 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.510, 0.534, 0.502] + !! OVERLAP: nightstand <-> floor depth=[0.510, -0.028, 0.502] + !! OVERLAP: bed <-> floor depth=[1.589, -0.028, 1.661] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11204 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1614 (Center Penalty: 1.2001, C1 Heatmap: 0.4745, C2 Repulsion: 2.9085), Relational Loss: 0.0096 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.231 1.206 1.839 -0.869 0.006 -0.504 90.03° +wardrobe 1.309 2.180 0.223 -0.852 0.002 1.511 -179.93° +nightstand 0.461 0.572 0.342 -1.383 0.005 0.874 90.03° +table 0.794 1.154 0.335 1.086 -0.000 -0.621 -89.94° +chair 0.595 0.520 0.332 1.198 0.000 -0.780 89.87° +floor 3.304 -0.003 3.496 -0.008 0.000 0.011 -0.01° +_scene_ 0.066 0.002 0.019 -5.671 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.231, -0.003, 1.839] + !! OVERLAP: wardrobe <-> floor depth=[1.309, -0.003, 0.223] + !! OVERLAP: nightstand <-> floor depth=[0.461, -0.003, 0.342] + !! OVERLAP: table <-> chair depth=[0.582, 0.520, 0.174] + !! OVERLAP: table <-> floor depth=[0.794, -0.003, 0.335] + !! OVERLAP: chair <-> floor depth=[0.595, -0.003, 0.332] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4089 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0899, Walkable Loss: 1.6851 (Center Penalty: 1.2448, C1 Heatmap: 0.2027, C2 Repulsion: 1.3905), Relational Loss: 0.0560 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.600 2.532 -0.204 0.749 -0.039 -0.448 -91.91° +nightstand 0.622 0.682 0.324 -1.369 -0.000 -1.362 0.02° +nightstand 0.540 0.798 0.453 1.255 0.001 -1.382 -0.00° +bed 0.917 0.592 0.750 -0.196 -0.010 -1.070 -0.37° +lamp 0.257 1.097 0.193 -0.574 1.717 -0.535 0.17° +floor 3.923 -0.004 3.362 -0.469 -0.000 -0.049 0.06° +_scene_ 0.064 0.001 0.020 -5.671 -0.005 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.543, -0.004, -0.204] + !! OVERLAP: nightstand <-> floor depth=[0.622, -0.004, 0.324] + !! OVERLAP: nightstand <-> floor depth=[0.507, -0.004, 0.453] + !! OVERLAP: bed <-> floor depth=[0.917, -0.004, 0.750] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21684 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0409, Walkable Loss: 2.1697 (Center Penalty: 1.4777, C1 Heatmap: 0.4029, C2 Repulsion: 1.8481), Relational Loss: 0.0443 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.784 1.166 1.556 0.460 -0.014 -0.873 0.13° +nightstand 0.328 0.751 0.400 1.568 0.003 -1.246 0.08° +cabinet 1.029 1.535 0.429 0.140 0.002 1.350 -179.94° +wardrobe 1.092 2.234 0.477 -1.255 0.002 -0.814 89.71° +nightstand 0.279 0.787 0.259 -0.627 0.002 -1.339 0.05° +chair 0.552 0.811 0.552 1.442 0.005 0.771 -149.75° +lamp 0.890 1.018 0.610 0.747 1.773 0.277 0.23° +floor 3.537 0.000 3.276 -0.002 0.001 -0.003 -0.02° +_scene_ 0.070 -0.002 0.022 -5.675 -0.003 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.784, 0.000, 1.546] + !! OVERLAP: nightstand <-> floor depth=[0.328, 0.000, 0.400] + !! OVERLAP: cabinet <-> floor depth=[1.029, 0.000, 0.429] + !! OVERLAP: wardrobe <-> floor depth=[1.061, 0.000, 0.477] + !! OVERLAP: nightstand <-> floor depth=[0.279, 0.000, 0.259] + !! OVERLAP: chair <-> floor depth=[0.552, 0.000, 0.552] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8497 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2114, Walkable Loss: 1.0264 (Center Penalty: 0.8210, C1 Heatmap: 0.1172, C2 Repulsion: 0.5583), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.591 0.899 1.120 -0.853 -0.003 0.215 90.61° +nightstand 0.321 0.407 0.212 -0.989 -0.002 1.021 90.06° +nightstand 0.328 0.608 0.210 -1.060 -0.001 -0.998 90.10° +lamp 0.594 0.910 0.480 0.878 2.150 -0.222 -0.66° +floor 2.947 0.021 3.142 0.306 0.000 0.622 -0.12° +_scene_ 0.064 0.003 0.010 -5.669 -0.008 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.591, 0.021, 1.120] + !! OVERLAP: nightstand <-> floor depth=[0.321, 0.021, 0.212] + !! OVERLAP: nightstand <-> floor depth=[0.271, 0.021, 0.055] +============================================================ + + +============================================================ +SCENE: MasterBedroom-196 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0800, Walkable Loss: 1.6364 (Center Penalty: 0.7091, C1 Heatmap: 0.4813, C2 Repulsion: 2.7115), Relational Loss: 0.0143 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.583 0.488 0.618 0.728 2.362 -0.389 -0.39° +wardrobe 1.190 2.469 0.131 -1.476 -0.011 -0.616 88.49° +bed 1.392 1.049 1.914 0.465 0.002 -0.792 0.21° +nightstand 0.485 0.695 0.429 1.294 0.001 -1.362 -0.03° +nightstand 0.695 0.594 0.439 -0.791 -0.000 -1.380 -0.03° +floor 4.203 0.034 3.479 -0.645 0.010 -0.516 -0.27° +_scene_ 0.068 -0.000 0.022 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.190, 0.034, 0.131] + !! OVERLAP: bed <-> nightstand depth=[0.109, 0.695, 0.429] + !! OVERLAP: bed <-> floor depth=[1.392, 0.034, 1.914] + !! OVERLAP: nightstand <-> floor depth=[0.405, 0.034, 0.429] + !! OVERLAP: nightstand <-> floor depth=[0.695, 0.034, 0.439] +============================================================ + + +============================================================ +SCENE: MasterBedroom-132469 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1844, Walkable Loss: 0.4146 (Center Penalty: 0.1202, C1 Heatmap: 0.3640, C2 Repulsion: 0.0162), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.437 0.862 1.547 -0.171 -0.030 1.564 -89.14° +wardrobe 1.348 2.112 0.312 -0.071 0.008 -1.520 0.18° +lamp 0.549 0.019 0.731 -0.724 2.527 1.004 -1.23° +floor 3.140 0.060 4.350 -1.033 -0.032 0.607 -0.42° +_scene_ 0.084 -0.002 0.100 -5.613 -0.003 -5.666 -57.40° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.427, 0.060, 1.547] + !! OVERLAP: wardrobe <-> floor depth=[1.282, 0.060, 0.204] +============================================================ + + +============================================================ +SCENE: MasterBedroom-104323 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0019, Walkable Loss: 1.7986 (Center Penalty: 1.3552, C1 Heatmap: 0.3138, C2 Repulsion: 0.9617), Relational Loss: 0.0338 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.292 1.064 1.694 -0.760 -0.002 0.437 89.92° +lamp 0.730 1.040 0.274 -0.213 1.758 1.093 0.00° +nightstand 0.381 0.553 0.297 -1.071 -0.000 -0.539 90.03° +floor 2.807 -0.005 3.128 -0.001 -0.001 0.012 -0.04° +_scene_ 0.067 0.000 0.023 -5.666 -0.005 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.381, 0.553, 0.020] + !! OVERLAP: bed <-> floor depth=[1.290, -0.005, 1.694] + !! OVERLAP: nightstand <-> floor depth=[0.381, -0.005, 0.297] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69556 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0447, Walkable Loss: 1.3656 (Center Penalty: 0.7775, C1 Heatmap: 0.3734, C2 Repulsion: 1.4469), Relational Loss: 0.0022 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.667 1.151 1.663 1.183 -0.013 -0.414 -89.14° +wardrobe 1.514 2.225 0.364 -0.297 -0.006 0.889 -179.17° +table 0.418 0.596 0.326 1.284 0.001 0.632 -90.05° +cabinet 0.767 1.669 0.377 -1.232 -0.000 -1.722 89.98° +lamp 0.558 1.046 0.520 -0.184 1.584 -0.844 0.25° +table 0.467 0.576 0.382 1.357 0.001 -1.631 -90.17° +floor 3.224 0.001 3.780 0.042 0.009 -0.753 -0.70° +_scene_ 0.064 -0.000 0.013 -5.672 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.667, 0.001, 1.663] + !! OVERLAP: wardrobe <-> floor depth=[1.514, 0.001, 0.364] + !! OVERLAP: table <-> floor depth=[0.418, 0.001, 0.326] + !! OVERLAP: cabinet <-> floor depth=[0.722, 0.001, 0.377] + !! OVERLAP: table <-> floor depth=[0.467, 0.001, 0.382] +============================================================ + + +============================================================ +SCENE: Bedroom-6993 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0464, Walkable Loss: 0.6533 (Center Penalty: 0.5002, C1 Heatmap: 0.1910, C2 Repulsion: 0.0013), Relational Loss: 0.0040 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.052 0.559 0.183 0.216 0.012 1.302 90.46° +lamp 0.982 0.915 0.009 0.454 1.907 0.865 179.94° +wardrobe 2.291 2.513 0.010 0.784 0.008 -0.999 0.43° +floor 2.918 -0.003 3.840 0.425 0.008 0.673 0.39° +_scene_ 0.039 0.007 0.005 -5.661 -0.003 -5.720 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.052, -0.003, 0.183] + !! OVERLAP: wardrobe <-> floor depth=[2.245, -0.003, 0.010] +============================================================ + + +============================================================ +SCENE: MasterBedroom-935 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0346, Walkable Loss: 1.6275 (Center Penalty: 0.4970, C1 Heatmap: 0.4851, C2 Repulsion: 3.7123), Relational Loss: 0.0212 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.613 0.770 0.272 1.391 -0.024 -0.108 -88.96° +lamp 0.263 0.544 0.285 0.199 2.182 0.839 0.01° +lamp 0.776 0.945 0.776 1.189 1.695 1.834 -89.50° +lamp 0.617 1.145 0.595 1.513 1.439 -1.082 -0.06° +chair 0.297 0.822 0.262 0.831 -0.003 -0.868 89.51° +bed 0.911 0.746 1.050 0.485 -0.019 1.298 -90.30° +wardrobe 1.801 2.282 0.155 0.506 -0.008 -1.279 -0.09° +tv_stand 1.735 0.689 0.362 -1.078 0.004 1.050 90.17° +nightstand 0.386 0.495 0.367 1.577 -0.000 1.663 -90.05° +floor 3.733 0.009 4.885 -0.069 -0.007 0.991 0.25° +_scene_ 0.071 0.001 0.023 -5.670 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.613, 0.009, 0.272] + !! OVERLAP: lamp <-> wardrobe depth=[0.202, 0.267, 0.155] + !! OVERLAP: chair <-> floor depth=[0.297, 0.009, 0.262] + !! OVERLAP: bed <-> floor depth=[0.911, 0.009, 1.050] + !! OVERLAP: wardrobe <-> floor depth=[1.801, 0.009, 0.155] + !! OVERLAP: tv_stand <-> floor depth=[1.725, 0.009, 0.362] + !! OVERLAP: nightstand <-> floor depth=[0.386, 0.009, 0.367] +============================================================ + + +============================================================ +SCENE: SecondBedroom-2311 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9014 (Center Penalty: 1.3979, C1 Heatmap: 0.4761, C2 Repulsion: 0.6131), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.483 2.768 0.370 -0.232 -0.000 -1.313 -0.00° +lamp 0.734 0.748 0.765 0.204 1.887 0.842 -0.30° +bed 1.319 1.128 1.778 -0.853 0.007 0.482 -179.86° +chair 0.568 0.704 0.627 1.527 -0.001 0.954 -90.00° +floor 3.999 -0.001 3.201 0.005 0.001 -0.028 -0.02° +_scene_ 0.067 0.004 0.024 -5.618 -0.004 -5.678 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.483, -0.001, 0.370] + !! OVERLAP: bed <-> floor depth=[1.319, -0.001, 1.778] + !! OVERLAP: chair <-> floor depth=[0.568, -0.001, 0.627] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69136 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0631, Walkable Loss: 0.8810 (Center Penalty: 0.4437, C1 Heatmap: 0.2810, C2 Repulsion: 1.0629), Relational Loss: 0.0262 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.841 0.983 1.058 0.728 -0.013 0.954 178.97° +wardrobe 0.879 2.175 -0.846 -0.821 -0.063 1.038 92.55° +nightstand 0.418 0.365 0.304 1.656 0.002 1.315 -179.99° +nightstand 0.286 0.402 0.265 -0.651 0.000 1.289 179.85° +tv_stand 1.722 0.501 0.329 0.482 0.000 -1.335 0.04° +lamp 0.515 0.112 0.497 0.903 2.428 -0.000 0.01° +floor 4.525 0.012 2.998 1.012 -0.011 0.053 1.13° +_scene_ 0.068 0.000 0.022 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.841, 0.012, 1.058] + !! OVERLAP: wardrobe <-> floor depth=[0.869, 0.012, -0.846] + !! OVERLAP: nightstand <-> floor depth=[0.418, 0.012, 0.304] + !! OVERLAP: nightstand <-> floor depth=[0.286, 0.012, 0.265] + !! OVERLAP: tv_stand <-> floor depth=[1.722, 0.012, 0.276] +============================================================ + + +============================================================ +SCENE: Bedroom-47437 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4359 (Center Penalty: 1.0969, C1 Heatmap: 0.2724, C2 Repulsion: 0.6055), Relational Loss: 0.0001 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.691 1.005 1.894 -1.035 -0.042 0.313 90.89° +nightstand 0.412 0.601 0.387 -1.102 0.001 1.690 90.01° +nightstand 0.574 0.593 0.474 -1.254 0.003 -1.058 89.96° +floor 3.412 -0.002 4.801 0.004 -0.000 -0.048 -0.01° +_scene_ 0.062 0.009 0.013 -5.663 -0.004 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.691, -0.002, 1.894] + !! OVERLAP: nightstand <-> floor depth=[0.412, -0.002, 0.387] + !! OVERLAP: nightstand <-> floor depth=[0.574, -0.002, 0.474] +============================================================ + + +============================================================ +SCENE: SecondBedroom-739 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0144, Walkable Loss: 1.0137 (Center Penalty: 0.6459, C1 Heatmap: 0.1618, C2 Repulsion: 1.1914), Relational Loss: 0.0387 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.860 1.133 1.088 -0.962 0.043 0.590 93.48° +table 0.348 0.442 0.326 -1.126 -0.001 1.289 90.02° +table 0.380 0.469 0.334 -1.255 0.002 -0.669 89.78° +lamp 0.435 1.008 0.629 -0.395 1.771 0.609 -0.41° +floor 2.955 0.001 3.603 0.047 -0.008 0.898 0.17° +_scene_ 0.055 0.032 0.082 -5.494 -0.003 -5.495 -58.21° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.348, 0.442, 0.007] + !! OVERLAP: bed <-> floor depth=[0.860, 0.001, 1.088] + !! OVERLAP: table <-> floor depth=[0.348, 0.001, 0.326] + !! OVERLAP: table <-> floor depth=[0.366, 0.001, 0.334] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6475 (Center Penalty: 1.2769, C1 Heatmap: 0.2340, C2 Repulsion: 0.9172), Relational Loss: 0.0474 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.837 1.621 1.639 1.024 -0.012 -0.149 -92.41° +nightstand 0.384 0.527 0.325 1.287 -0.003 0.860 -90.08° +nightstand 0.331 0.646 0.323 1.307 0.001 -1.445 -89.99° +lamp 0.776 0.510 0.858 -0.005 2.301 -0.973 -0.17° +floor 2.974 -0.001 3.676 -0.000 0.000 0.006 -0.01° +_scene_ 0.066 0.001 0.017 -5.670 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.837, -0.001, 1.639] + !! OVERLAP: nightstand <-> floor depth=[0.384, -0.001, 0.325] + !! OVERLAP: nightstand <-> floor depth=[0.331, -0.001, 0.323] +============================================================ + + +============================================================ +SCENE: SecondBedroom-22370 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3903, Walkable Loss: 1.1062 (Center Penalty: 0.6889, C1 Heatmap: 0.2125, C2 Repulsion: 1.2367), Relational Loss: 0.0287 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.486 2.146 0.564 1.199 -0.017 0.512 -90.88° +bed 1.202 1.274 0.939 -0.825 0.010 0.774 179.47° +nightstand 0.440 0.512 0.230 0.539 -0.000 1.205 179.23° +nightstand 0.221 0.491 0.132 -1.433 -0.004 1.229 179.94° +lamp 0.620 0.829 0.530 -0.712 1.855 -0.230 0.28° +floor 4.118 0.013 3.001 -0.824 0.010 -0.275 -0.32° +_scene_ 0.066 0.001 0.025 -5.670 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.280, 0.013, 0.564] + !! OVERLAP: bed <-> nightstand depth=[0.103, 0.491, 0.081] + !! OVERLAP: bed <-> floor depth=[1.202, 0.013, 0.920] + !! OVERLAP: nightstand <-> floor depth=[0.440, 0.013, 0.135] + !! OVERLAP: nightstand <-> floor depth=[0.221, 0.013, 0.062] +============================================================ + + +============================================================ +SCENE: SecondBedroom-15551 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8450 (Center Penalty: 1.0957, C1 Heatmap: 0.6127, C2 Repulsion: 1.2957), Relational Loss: 0.0006 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.470 0.873 1.712 0.609 -0.007 -0.942 -89.28° +wardrobe 2.281 2.450 0.551 0.051 -0.000 1.513 179.92° +nightstand 0.526 0.570 0.481 0.815 0.001 -1.354 -90.16° +floor 3.202 -0.004 3.920 -0.016 0.001 -0.028 -0.04° +_scene_ 0.076 0.001 0.018 -5.668 -0.005 -5.712 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.526, 0.570, 0.481] + !! OVERLAP: bed <-> floor depth=[1.470, -0.004, 1.712] + !! OVERLAP: wardrobe <-> floor depth=[2.281, -0.004, 0.551] + !! OVERLAP: nightstand <-> floor depth=[0.526, -0.004, 0.481] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13100 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1015 (Center Penalty: 1.2119, C1 Heatmap: 0.5423, C2 Repulsion: 2.2786), Relational Loss: 0.0466 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.262 1.008 0.249 0.282 1.807 0.918 -0.20° +bed 1.136 1.161 1.449 1.039 0.006 0.642 -87.46° +nightstand 0.493 0.591 0.549 1.431 -0.000 -1.100 -90.41° +nightstand 0.488 0.608 0.506 1.411 0.001 1.679 -89.90° +wardrobe 1.969 2.460 0.493 0.635 0.000 -1.646 0.15° +shelf 0.881 1.790 0.466 -1.285 0.001 1.819 89.90° +floor 3.508 -0.001 4.259 -0.015 -0.000 0.001 -0.02° +_scene_ 0.069 0.000 0.018 -5.671 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.136, -0.001, 1.449] + !! OVERLAP: nightstand <-> floor depth=[0.493, -0.001, 0.549] + !! OVERLAP: nightstand <-> floor depth=[0.488, -0.001, 0.506] + !! OVERLAP: wardrobe <-> floor depth=[1.969, -0.001, 0.493] + !! OVERLAP: shelf <-> floor depth=[0.881, -0.001, 0.466] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13841 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2555 (Center Penalty: 0.5311, C1 Heatmap: 0.4091, C2 Repulsion: 1.9855), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.428 1.085 0.639 0.989 1.171 -0.084 0.14° +bed 1.451 1.512 1.603 0.214 0.005 -1.044 -0.34° +wardrobe 0.527 2.053 0.840 -0.420 -0.006 -1.019 91.61° +floor 3.130 0.000 3.508 0.846 -0.019 -0.295 0.56° +_scene_ 0.051 0.003 0.031 -5.600 -0.003 -5.675 -57.45° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: lamp <-> bed depth=[0.164, 0.133, 0.161] + !! OVERLAP: bed <-> wardrobe depth=[0.355, 1.512, 0.840] + !! OVERLAP: bed <-> floor depth=[1.451, 0.000, 1.603] + !! OVERLAP: wardrobe <-> floor depth=[0.527, 0.000, 0.840] +============================================================ + + +============================================================ +SCENE: MasterBedroom-10364 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0935, Walkable Loss: 1.2242 (Center Penalty: 0.3995, C1 Heatmap: 0.4919, C2 Repulsion: 2.1559), Relational Loss: 0.0159 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.520 1.200 1.962 0.930 -0.005 -0.961 -0.67° +nightstand 0.535 0.711 0.473 1.471 -0.004 -1.492 0.06° +nightstand 0.421 0.605 0.339 -0.153 0.000 -1.653 -0.02° +wardrobe 0.919 1.855 0.435 -1.227 0.000 -0.884 89.95° +lamp 0.467 0.209 0.481 1.125 2.473 -0.651 -0.08° +lamp 0.484 0.559 0.275 -1.281 2.251 0.881 0.02° +floor 4.241 0.004 3.886 -0.453 0.009 -0.610 0.12° +_scene_ 0.065 0.001 0.020 -5.673 -0.004 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.487, 0.711, 0.473] + !! OVERLAP: bed <-> floor depth=[1.497, 0.004, 1.962] + !! OVERLAP: nightstand <-> floor depth=[0.464, 0.004, 0.473] + !! OVERLAP: nightstand <-> floor depth=[0.421, 0.004, 0.339] + !! OVERLAP: wardrobe <-> floor depth=[0.919, 0.004, 0.435] +============================================================ + + +============================================================ +SCENE: Bedroom-18 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6285 (Center Penalty: 1.2954, C1 Heatmap: 0.1722, C2 Repulsion: 0.9763), Relational Loss: 0.0004 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.595 1.132 0.215 0.095 -0.048 -1.466 -0.27° +nightstand 0.561 0.623 0.454 1.317 0.003 -1.272 0.03° +nightstand 0.516 0.612 0.546 -1.246 -0.000 -1.274 -0.03° +lamp 0.268 0.589 0.253 0.191 2.113 -0.771 -0.38° +floor 3.286 0.001 3.376 -0.003 0.001 -0.045 -0.01° +_scene_ 0.069 0.000 0.025 -5.671 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.595, 0.001, 0.215] + !! OVERLAP: nightstand <-> floor depth=[0.561, 0.001, 0.454] + !! OVERLAP: nightstand <-> floor depth=[0.516, 0.001, 0.546] +============================================================ + + +============================================================ +SCENE: SecondBedroom-11303 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1515, Walkable Loss: 1.8383 (Center Penalty: 1.2161, C1 Heatmap: 0.2626, C2 Repulsion: 2.0605), Relational Loss: 0.0261 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.726 0.986 0.729 0.505 -0.069 0.869 1.63° +desk 1.419 0.714 0.467 -1.021 0.005 0.536 179.95° +nightstand 0.173 0.454 0.214 1.270 -0.000 0.693 -90.04° +wardrobe 0.771 2.200 0.249 1.419 -0.031 0.227 -90.68° +wardrobe 0.669 2.229 0.379 1.504 -0.005 -0.854 -89.90° +floor 3.693 -0.001 3.072 -0.101 0.000 -0.005 -0.02° +_scene_ 0.063 0.000 0.021 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.726, -0.001, 0.729] + !! OVERLAP: desk <-> floor depth=[1.419, -0.001, 0.467] + !! OVERLAP: nightstand <-> floor depth=[0.173, -0.001, 0.214] + !! OVERLAP: wardrobe <-> floor depth=[0.712, -0.001, 0.249] + !! OVERLAP: wardrobe <-> floor depth=[0.577, -0.001, 0.379] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1362 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0224, Walkable Loss: 1.6615 (Center Penalty: 0.8636, C1 Heatmap: 0.4216, C2 Repulsion: 2.3030), Relational Loss: 0.0266 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.120 1.482 1.590 0.900 -0.014 0.630 -90.15° +table 0.158 0.483 0.332 1.299 -0.002 -0.631 -89.94° +table 0.447 0.538 0.500 1.271 0.000 1.585 -90.31° +wardrobe 1.130 1.838 0.330 0.732 0.008 -1.158 -0.11° +lamp 0.621 0.137 0.609 0.524 2.481 0.494 0.12° +chair 0.686 0.816 0.737 -1.071 0.018 0.236 58.96° +floor 3.115 -0.003 4.163 0.085 -0.004 0.781 -0.19° +_scene_ 0.070 0.004 0.021 -5.666 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.413, 0.538, 0.090] + !! OVERLAP: bed <-> floor depth=[1.120, -0.003, 1.590] + !! OVERLAP: table <-> floor depth=[0.158, -0.003, 0.332] + !! OVERLAP: table <-> floor depth=[0.447, -0.003, 0.500] + !! OVERLAP: wardrobe <-> floor depth=[1.130, -0.003, 0.308] + !! OVERLAP: chair <-> floor depth=[0.686, -0.003, 0.737] +============================================================ + + +============================================================ +SCENE: SecondBedroom-34317 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1165, Walkable Loss: 1.0793 (Center Penalty: 0.5131, C1 Heatmap: 0.4008, C2 Repulsion: 1.2280), Relational Loss: 0.0004 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.468 1.178 1.546 0.541 0.025 0.823 90.83° +cabinet 1.159 0.751 0.342 0.725 0.000 -1.452 -0.08° +nightstand 0.222 0.665 0.377 -0.479 0.030 1.375 90.63° +nightstand 0.277 0.636 0.325 -0.548 0.008 -0.982 89.69° +lamp 0.473 0.196 0.375 0.767 2.267 -0.490 0.05° +floor 3.220 -0.024 4.418 0.878 -0.014 0.702 0.43° +_scene_ 0.066 0.004 0.013 -5.671 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.468, -0.024, 1.546] + !! OVERLAP: cabinet <-> floor depth=[1.159, -0.024, 0.225] + !! OVERLAP: nightstand <-> floor depth=[0.222, -0.024, 0.377] + !! OVERLAP: nightstand <-> floor depth=[0.277, -0.024, 0.325] +============================================================ + + +============================================================ +SCENE: Bedroom-4098 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3730, Walkable Loss: 1.0208 (Center Penalty: 0.4298, C1 Heatmap: 0.3073, C2 Repulsion: 1.7261), Relational Loss: 0.0298 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.827 1.011 1.334 -1.009 0.028 -0.826 -1.43° +nightstand 0.599 0.500 0.196 0.104 0.002 -1.284 0.06° +nightstand 0.524 0.542 0.348 -1.787 0.001 -1.249 0.18° +wardrobe 1.522 2.483 0.306 1.111 0.006 -0.806 -90.56° +lamp 0.428 0.440 0.440 -0.869 2.147 -0.162 -0.17° +floor 5.000 -0.026 3.449 -1.001 -0.012 0.163 0.03° +_scene_ 0.068 0.000 0.021 -5.670 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.827, -0.026, 1.334] + !! OVERLAP: nightstand <-> floor depth=[0.599, -0.026, 0.196] + !! OVERLAP: nightstand <-> floor depth=[0.524, -0.026, 0.348] + !! OVERLAP: wardrobe <-> floor depth=[1.149, -0.026, 0.306] +============================================================ + + +============================================================ +SCENE: Bedroom-5265 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1116, Walkable Loss: 1.6217 (Center Penalty: 0.6640, C1 Heatmap: 0.4781, C2 Repulsion: 2.8760), Relational Loss: 0.0315 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.287 1.272 0.902 -0.681 -0.015 0.877 -178.56° +nightstand 0.424 0.521 0.287 -1.294 0.002 1.534 179.91° +nightstand 0.328 0.494 0.267 1.002 0.006 1.621 179.89° +tv_stand 1.806 0.674 0.316 -1.229 -0.001 -1.554 -0.03° +tv_stand 1.744 0.746 0.285 -0.735 -0.008 -0.811 -0.15° +wardrobe 0.598 2.436 0.275 1.239 -0.029 1.020 -90.51° +lamp 0.521 0.654 0.456 -0.825 2.022 0.131 -0.07° +floor 4.553 -0.018 3.773 -0.850 -0.003 0.076 -0.06° +_scene_ 0.071 -0.000 0.025 -5.674 -0.005 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.287, -0.018, 0.902] + !! OVERLAP: nightstand <-> floor depth=[0.424, -0.018, 0.287] + !! OVERLAP: nightstand <-> floor depth=[0.328, -0.018, 0.267] + !! OVERLAP: tv_stand <-> floor depth=[1.806, -0.018, 0.316] + !! OVERLAP: tv_stand <-> floor depth=[1.744, -0.018, 0.285] + !! OVERLAP: wardrobe <-> floor depth=[0.487, -0.018, 0.275] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.5122 (Center Penalty: 1.3752, C1 Heatmap: 0.5607, C2 Repulsion: 3.4426), Relational Loss: 0.0241 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.269 1.145 1.671 0.758 -0.002 -0.506 -89.89° +nightstand 0.538 0.549 0.522 1.032 0.002 -1.179 0.08° +wardrobe 1.901 2.265 0.462 0.347 -0.005 -1.185 0.21° +table 0.614 0.893 0.387 -1.350 0.008 0.384 89.98° +nightstand 0.416 0.522 0.411 0.201 0.002 1.290 -0.01° +lamp 0.858 0.749 0.854 -0.026 1.788 -1.347 -0.11° +lamp 0.742 0.877 0.726 0.422 2.045 1.138 0.04° +floor 3.423 -0.001 3.648 -0.001 0.001 -0.021 -0.02° +_scene_ 0.074 -0.000 0.021 -5.671 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.538, 0.549, 0.424] + !! OVERLAP: bed <-> wardrobe depth=[1.174, 1.145, 0.387] + !! OVERLAP: bed <-> floor depth=[1.269, -0.001, 1.671] + !! OVERLAP: nightstand <-> wardrobe depth=[0.534, 0.549, 0.462] + !! OVERLAP: nightstand <-> floor depth=[0.538, -0.001, 0.522] + !! OVERLAP: wardrobe <-> floor depth=[1.901, -0.001, 0.462] + !! OVERLAP: table <-> floor depth=[0.614, -0.001, 0.387] + !! OVERLAP: nightstand <-> floor depth=[0.416, -0.001, 0.411] +============================================================ + + +============================================================ +SCENE: Bedroom-47481 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8023 (Center Penalty: 1.3591, C1 Heatmap: 0.3162, C2 Repulsion: 0.9515), Relational Loss: 0.0380 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.797 0.975 1.291 -0.963 -0.022 -0.206 90.31° +nightstand 0.388 0.465 0.276 -1.163 0.001 0.918 89.87° +wardrobe 1.825 2.339 0.302 -0.278 0.004 1.909 179.86° +nightstand 0.417 0.493 0.337 -1.083 0.003 -1.310 90.06° +lamp 0.641 0.774 0.441 0.268 1.975 -0.852 -0.21° +floor 2.780 -0.001 4.186 -0.040 0.001 0.009 0.00° +_scene_ 0.072 0.000 0.023 -5.672 -0.005 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.797, -0.001, 1.291] + !! OVERLAP: nightstand <-> floor depth=[0.388, -0.001, 0.276] + !! OVERLAP: wardrobe <-> floor depth=[1.825, -0.001, 0.302] + !! OVERLAP: nightstand <-> floor depth=[0.417, -0.001, 0.337] +============================================================ + + +============================================================ +SCENE: Bedroom-2160 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9944 (Center Penalty: 1.3515, C1 Heatmap: 0.4879, C2 Repulsion: 1.2631), Relational Loss: 0.0060 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.617 2.186 1.410 -0.447 0.025 0.825 -178.49° +nightstand 0.504 0.592 0.409 -0.657 0.004 1.400 179.82° +lamp 0.430 1.130 0.357 0.498 1.513 0.832 -0.31° +wardrobe 1.614 2.053 0.556 0.129 -0.001 -1.387 0.05° +floor 2.749 0.000 3.343 -0.030 0.001 -0.005 -0.04° +_scene_ 0.069 0.000 0.018 -5.673 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.504, 0.592, 0.334] + !! OVERLAP: bed <-> lamp depth=[0.079, 0.171, 0.357] + !! OVERLAP: bed <-> floor depth=[1.617, 0.000, 1.410] + !! OVERLAP: nightstand <-> floor depth=[0.504, 0.000, 0.409] + !! OVERLAP: wardrobe <-> floor depth=[1.614, 0.000, 0.556] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9825 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3397 (Center Penalty: 1.4161, C1 Heatmap: 0.5522, C2 Repulsion: 2.4092), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.630 2.593 0.553 -0.657 -0.004 1.559 179.99° +bed 1.441 1.161 1.792 -0.671 -0.012 -0.842 90.49° +table 0.401 0.499 0.391 -1.406 0.003 1.094 0.01° +table 0.515 0.591 0.494 -1.203 -0.001 -1.628 0.29° +lamp 0.687 0.907 0.656 0.068 2.115 -0.759 0.10° +floor 3.291 -0.002 4.302 0.001 0.000 0.020 -0.01° +_scene_ 0.071 -0.000 0.021 -5.671 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> table depth=[0.266, 0.499, 0.007] + !! OVERLAP: wardrobe <-> floor depth=[1.630, -0.002, 0.553] + !! OVERLAP: bed <-> table depth=[0.446, 0.591, 0.357] + !! OVERLAP: bed <-> floor depth=[1.441, -0.002, 1.792] + !! OVERLAP: table <-> floor depth=[0.401, -0.002, 0.391] + !! OVERLAP: table <-> floor depth=[0.515, -0.002, 0.494] +============================================================ + + +============================================================ +SCENE: Bedroom-1989 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0446, Walkable Loss: 1.0083 (Center Penalty: 0.7636, C1 Heatmap: 0.1604, C2 Repulsion: 0.5820), Relational Loss: 0.0194 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.286 0.843 1.055 1.267 -0.028 -0.669 -89.46° +nightstand 0.268 0.722 0.246 1.491 -0.001 0.186 -89.44° +wardrobe 1.958 2.447 -0.547 0.805 -0.035 0.460 -177.73° +tv_stand 1.547 0.529 -0.005 -0.381 -0.011 -1.004 89.31° +lamp 0.196 0.714 0.371 0.611 1.988 -0.599 -1.17° +floor 2.896 -0.013 2.990 0.339 -0.021 -0.792 -0.68° +_scene_ 0.071 0.001 0.019 -5.668 -0.004 -5.711 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.286, -0.013, 1.055] + !! OVERLAP: nightstand <-> floor depth=[0.268, -0.013, 0.246] + !! OVERLAP: tv_stand <-> floor depth=[1.502, -0.013, -0.005] +============================================================ + + +============================================================ +SCENE: SecondBedroom-143 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1529, Walkable Loss: 1.0594 (Center Penalty: 0.3175, C1 Heatmap: 0.3627, C2 Repulsion: 2.2585), Relational Loss: 0.0399 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.157 2.318 0.431 -1.373 -0.002 -0.068 89.66° +bed 0.919 1.277 0.744 1.037 -0.011 0.226 -178.50° +nightstand 0.476 0.541 0.158 1.800 0.011 0.673 -179.55° +nightstand 0.463 0.484 0.169 -1.383 0.016 0.672 179.76° +cabinet 1.228 1.110 0.342 0.661 -0.001 -1.480 0.14° +cabinet 1.053 1.108 0.336 -0.705 0.001 -1.740 0.03° +shelf 0.409 1.478 0.344 1.821 0.005 -0.893 -140.66° +floor 4.538 0.032 3.123 0.358 0.012 -0.864 -0.38° +_scene_ 0.073 0.001 0.027 -5.666 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.116, 0.032, 0.431] + !! OVERLAP: bed <-> floor depth=[0.919, 0.032, 0.744] + !! OVERLAP: nightstand <-> floor depth=[0.476, 0.032, 0.104] + !! OVERLAP: nightstand <-> floor depth=[0.463, 0.032, 0.110] + !! OVERLAP: cabinet <-> floor depth=[1.228, 0.032, 0.342] + !! OVERLAP: cabinet <-> floor depth=[1.053, 0.032, 0.336] + !! OVERLAP: shelf <-> floor depth=[0.409, 0.032, 0.344] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13044 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8464 (Center Penalty: 1.1523, C1 Heatmap: 0.5432, C2 Repulsion: 1.2974), Relational Loss: 0.0120 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.627 1.294 1.752 0.604 0.004 0.771 -90.19° +wardrobe 1.592 2.225 0.494 0.574 0.004 -1.522 -0.03° +nightstand 0.500 0.485 0.436 1.053 0.001 1.261 -90.16° +floor 3.029 -0.003 3.825 -0.017 0.000 -0.041 -0.02° +_scene_ 0.074 0.002 0.020 -5.673 -0.005 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.500, 0.485, 0.436] + !! OVERLAP: bed <-> floor depth=[1.627, -0.003, 1.752] + !! OVERLAP: wardrobe <-> floor depth=[1.592, -0.003, 0.494] + !! OVERLAP: nightstand <-> floor depth=[0.500, -0.003, 0.436] +============================================================ + + +============================================================ +SCENE: Bedroom-8490 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0735, Walkable Loss: 1.6836 (Center Penalty: 0.6787, C1 Heatmap: 0.5095, C2 Repulsion: 2.9864), Relational Loss: 0.0062 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.611 2.415 0.263 -0.209 -0.003 -0.837 0.35° +lamp 0.884 0.807 0.873 -0.223 2.050 0.766 -0.48° +bed 1.136 0.926 1.394 -0.616 0.004 0.922 -179.97° +nightstand 0.353 0.586 0.329 1.019 0.000 1.320 179.70° +nightstand 0.579 0.446 0.420 -1.295 0.003 1.434 -179.90° +lamp 0.086 0.894 0.074 0.999 0.964 1.373 -0.08° +floor 3.225 -0.016 3.882 -0.411 -0.011 1.046 0.72° +_scene_ 0.066 0.000 0.017 -5.674 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.611, -0.016, 0.190] + !! OVERLAP: bed <-> nightstand depth=[0.179, 0.446, 0.395] + !! OVERLAP: bed <-> floor depth=[1.136, -0.016, 1.394] + !! OVERLAP: nightstand <-> floor depth=[0.353, -0.016, 0.329] + !! OVERLAP: nightstand <-> floor depth=[0.579, -0.016, 0.420] +============================================================ + + +============================================================ +SCENE: MasterBedroom-424 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0812, Walkable Loss: 0.9784 (Center Penalty: 0.5566, C1 Heatmap: 0.3228, C2 Repulsion: 0.8177), Relational Loss: 0.0348 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.814 1.035 1.547 -0.831 0.010 0.821 91.32° +wardrobe 1.212 1.790 0.453 0.610 0.024 -1.388 -0.23° +nightstand 0.519 0.478 0.383 -1.343 0.001 -0.834 90.04° +nightstand 0.373 0.474 0.368 -1.293 -0.004 1.760 89.99° +lamp 0.336 0.264 0.429 0.142 2.421 0.896 0.13° +floor 3.506 0.018 4.652 0.072 0.008 0.793 -1.03° +_scene_ 0.079 -0.001 0.024 -5.668 -0.004 -5.719 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.131, 0.474, 0.019] + !! OVERLAP: bed <-> floor depth=[0.814, 0.018, 1.547] + !! OVERLAP: wardrobe <-> floor depth=[1.212, 0.018, 0.372] + !! OVERLAP: nightstand <-> floor depth=[0.519, 0.018, 0.383] + !! OVERLAP: nightstand <-> floor depth=[0.373, 0.018, 0.368] +============================================================ + + +============================================================ +SCENE: SecondBedroom-32238 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2981, Walkable Loss: 0.2571 (Center Penalty: 0.1139, C1 Heatmap: 0.0946, C2 Repulsion: 0.3378), Relational Loss: 0.0189 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.302 2.124 0.511 1.336 0.005 0.250 -91.03° +nightstand 0.442 0.601 0.403 1.500 0.001 -0.612 -90.15° +nightstand 0.490 0.635 0.354 1.519 0.000 1.009 -89.43° +cabinet 0.346 0.511 0.318 1.487 -0.002 -1.561 -0.06° +cabinet 0.257 0.594 0.257 -0.989 0.011 -1.390 73.32° +floor 3.452 0.010 3.843 0.444 0.014 -1.034 -0.65° +_scene_ 0.062 0.013 0.036 -5.672 -0.005 -5.698 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.302, 0.010, 0.511] + !! OVERLAP: nightstand <-> floor depth=[0.442, 0.010, 0.403] + !! OVERLAP: nightstand <-> floor depth=[0.490, 0.010, 0.056] + !! OVERLAP: cabinet <-> floor depth=[0.346, 0.010, 0.318] + !! OVERLAP: cabinet <-> floor depth=[0.257, 0.010, 0.257] +============================================================ + + +============================================================ +SCENE: SecondBedroom-258160 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0838, Walkable Loss: 2.0911 (Center Penalty: 1.3843, C1 Heatmap: 0.3923, C2 Repulsion: 1.9649), Relational Loss: 0.0463 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.817 1.107 1.101 0.527 -0.051 -0.979 1.69° +nightstand 0.239 0.483 0.182 -0.344 -0.009 -1.489 -0.09° +nightstand 0.382 0.528 0.427 1.467 0.001 -1.503 -0.02° +wardrobe 1.732 2.493 0.338 -0.870 -0.007 -0.817 89.79° +tv_stand 1.664 1.794 0.215 0.272 0.000 1.416 -179.88° +lamp 0.375 0.729 0.388 0.872 2.077 -0.057 0.01° +floor 3.341 -0.001 3.368 -0.001 0.001 -0.013 0.00° +_scene_ 0.071 0.000 0.023 -5.676 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.817, -0.001, 1.101] + !! OVERLAP: nightstand <-> floor depth=[0.239, -0.001, 0.182] + !! OVERLAP: nightstand <-> floor depth=[0.382, -0.001, 0.408] + !! OVERLAP: wardrobe <-> floor depth=[1.668, -0.001, 0.338] + !! OVERLAP: tv_stand <-> floor depth=[1.664, -0.001, 0.215] +============================================================ + + +============================================================ +SCENE: SecondBedroom-19232 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1159, Walkable Loss: 0.9370 (Center Penalty: 0.5932, C1 Heatmap: 0.1790, C2 Repulsion: 1.0032), Relational Loss: 0.0115 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.776 1.569 1.384 -0.632 0.010 -0.741 90.72° +nightstand 0.300 0.492 0.196 -0.985 0.001 1.115 89.59° +nightstand 0.321 0.505 0.323 -0.990 0.002 -1.425 89.67° +lamp 0.581 0.381 0.572 0.143 2.226 -0.789 -0.27° +floor 3.419 0.003 4.049 0.625 -0.005 -0.741 0.13° +_scene_ 0.068 0.001 0.019 -5.672 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.190, 0.505, 0.170] + !! OVERLAP: bed <-> floor depth=[0.776, 0.003, 1.384] + !! OVERLAP: nightstand <-> floor depth=[0.250, 0.003, 0.196] + !! OVERLAP: nightstand <-> floor depth=[0.255, 0.003, 0.323] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6685 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1785, Walkable Loss: 1.0357 (Center Penalty: 0.4711, C1 Heatmap: 0.5664, C2 Repulsion: 0.5576), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.451 2.171 0.300 0.143 -0.006 0.991 -179.61° +bed 2.110 0.988 1.778 -0.074 0.001 -0.913 90.04° +lamp 0.593 0.403 0.567 0.262 2.119 -1.034 -0.01° +floor 2.528 -0.026 4.390 -0.032 0.012 -1.232 -0.67° +_scene_ 0.072 0.005 0.036 -5.652 -0.001 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.451, -0.026, 0.121] + !! OVERLAP: bed <-> floor depth=[2.110, -0.026, 1.778] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8001 (Center Penalty: 1.2252, C1 Heatmap: 0.2388, C2 Repulsion: 1.9189), Relational Loss: 0.0476 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.278 0.524 0.261 1.428 -0.001 -1.329 0.24° +desk 1.138 1.515 0.182 -0.045 -0.011 -1.368 -0.05° +wardrobe 1.539 2.201 0.253 -0.917 0.015 -0.558 91.07° +lamp 0.778 0.616 -0.076 1.091 1.654 0.486 -1.14° +bed 0.244 0.972 1.340 0.987 -0.007 -0.763 1.01° +floor 3.443 -0.002 3.314 0.008 0.000 -0.019 -0.00° +_scene_ 0.069 0.001 0.020 -5.672 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.278, -0.002, 0.261] + !! OVERLAP: desk <-> floor depth=[1.138, -0.002, 0.182] + !! OVERLAP: wardrobe <-> floor depth=[1.539, -0.002, 0.253] + !! OVERLAP: bed <-> floor depth=[0.244, -0.002, 1.340] +============================================================ + + +============================================================ +SCENE: Bedroom-35352 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0099, Walkable Loss: 1.2712 (Center Penalty: 0.7080, C1 Heatmap: 0.3751, C2 Repulsion: 1.3157), Relational Loss: 0.0350 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.342 1.140 1.644 1.057 0.001 0.083 -91.76° +wardrobe 0.567 2.466 0.600 -0.884 0.007 0.311 90.25° +nightstand 0.384 0.590 0.346 1.539 0.001 -1.100 -89.98° +nightstand 0.410 0.560 0.294 1.649 0.002 1.357 -89.99° +lamp 1.011 0.905 0.699 0.486 1.749 0.675 0.07° +floor 3.523 -0.029 4.167 0.604 0.009 0.705 -0.09° +_scene_ 0.069 0.000 0.023 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.342, -0.029, 1.644] + !! OVERLAP: wardrobe <-> floor depth=[0.557, -0.029, 0.600] + !! OVERLAP: nightstand <-> floor depth=[0.384, -0.029, 0.346] + !! OVERLAP: nightstand <-> floor depth=[0.410, -0.029, 0.294] +============================================================ + + +============================================================ +SCENE: MasterBedroom-4284 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0044, Walkable Loss: 1.0517 (Center Penalty: 0.5040, C1 Heatmap: 0.4168, C2 Repulsion: 1.0710), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.273 2.166 0.444 -0.086 -0.007 -1.473 0.01° +bed 1.308 1.482 1.555 0.464 -0.014 0.887 -91.44° +nightstand 0.420 0.564 0.500 1.096 0.007 -0.976 -90.00° +nightstand 0.321 0.567 0.381 1.207 -0.004 2.173 -90.48° +floor 3.250 0.005 5.168 -0.261 -0.003 0.683 -0.92° +_scene_ 0.074 0.003 0.024 -5.666 -0.004 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.273, 0.005, 0.444] + !! OVERLAP: bed <-> floor depth=[1.308, 0.005, 1.555] + !! OVERLAP: nightstand <-> floor depth=[0.420, 0.005, 0.500] + !! OVERLAP: nightstand <-> floor depth=[0.316, 0.005, 0.381] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1069 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0735, Walkable Loss: 1.3913 (Center Penalty: 0.9256, C1 Heatmap: 0.2459, C2 Repulsion: 1.3453), Relational Loss: 0.0441 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.561 0.602 0.540 -0.520 2.110 -0.776 -0.01° +wardrobe 0.902 2.409 0.307 1.357 0.018 -0.246 -91.76° +bed 1.381 0.662 0.946 -0.797 0.000 -0.428 177.98° +nightstand 0.389 0.502 0.231 -1.456 0.012 0.702 -179.98° +nightstand 0.407 0.497 -0.067 0.869 0.022 -0.431 -178.93° +floor 3.713 -0.029 2.984 -0.106 -0.027 -0.690 -0.07° +_scene_ 0.070 0.001 0.024 -5.672 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.844, -0.029, 0.307] + !! OVERLAP: bed <-> floor depth=[1.381, -0.029, 0.946] + !! OVERLAP: nightstand <-> floor depth=[0.389, -0.029, 0.215] + !! OVERLAP: nightstand <-> floor depth=[0.407, -0.029, -0.067] +============================================================ + + +============================================================ +SCENE: MasterBedroom-113 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1909, Walkable Loss: 1.2071 (Center Penalty: 0.7546, C1 Heatmap: 0.2775, C2 Repulsion: 1.1525), Relational Loss: 0.0197 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.733 0.534 0.398 1.143 -0.001 -0.206 -90.01° +bed 0.548 1.075 1.263 -0.743 0.054 -0.112 90.47° +nightstand 0.285 0.609 0.289 -1.001 0.006 0.722 90.74° +nightstand 0.328 0.506 0.338 -0.896 0.003 -0.952 90.21° +lamp 1.055 0.437 -0.046 0.940 2.253 -0.715 -0.34° +floor 3.123 -0.047 3.089 0.552 -0.000 -0.669 0.48° +_scene_ 0.064 0.001 0.020 -5.672 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.733, -0.047, 0.398] + !! OVERLAP: bed <-> floor depth=[0.541, -0.047, 1.263] + !! OVERLAP: nightstand <-> floor depth=[0.151, -0.047, 0.289] + !! OVERLAP: nightstand <-> floor depth=[0.278, -0.047, 0.338] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48968 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7622 (Center Penalty: 0.4985, C1 Heatmap: 0.1406, C2 Repulsion: 0.7558), Relational Loss: 0.0515 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.499 1.069 0.845 -0.523 -0.018 -0.931 92.10° +nightstand 0.468 0.487 0.382 -1.326 0.001 -1.145 89.94° +desk 1.001 1.538 0.309 0.842 -0.005 -1.302 -89.90° +lamp 0.695 0.262 0.562 -0.818 2.339 -0.648 -0.07° +floor 3.835 0.039 2.650 -0.516 -0.017 -0.619 -0.86° +_scene_ 0.069 -0.000 0.021 -5.668 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.499, 0.039, 0.845] + !! OVERLAP: nightstand <-> floor depth=[0.468, 0.039, 0.382] + !! OVERLAP: desk <-> floor depth=[1.001, 0.039, 0.309] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9222 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0197, Walkable Loss: 2.3319 (Center Penalty: 1.4307, C1 Heatmap: 0.5719, C2 Repulsion: 2.2184), Relational Loss: 0.0295 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.142 1.388 1.668 -1.093 0.011 -0.530 90.61° +wardrobe 1.940 2.246 0.486 -0.640 -0.000 1.627 -179.98° +nightstand 0.432 0.778 0.403 -1.375 0.002 -1.703 90.03° +nightstand 0.393 0.707 0.339 -1.292 0.002 0.606 90.07° +tv_stand 1.531 0.668 0.184 0.980 -0.011 -0.727 -89.33° +lamp 0.500 0.635 0.356 -0.288 2.044 -0.696 0.24° +floor 3.547 -0.002 4.229 -0.048 -0.000 -0.064 0.02° +_scene_ 0.069 0.000 0.020 -5.673 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.142, -0.002, 1.668] + !! OVERLAP: wardrobe <-> floor depth=[1.940, -0.002, 0.486] + !! OVERLAP: nightstand <-> floor depth=[0.432, -0.002, 0.403] + !! OVERLAP: nightstand <-> floor depth=[0.393, -0.002, 0.339] + !! OVERLAP: tv_stand <-> floor depth=[1.511, -0.002, 0.184] +============================================================ + + +============================================================ +SCENE: Bedroom-32051 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0878, Walkable Loss: 0.9268 (Center Penalty: 0.4780, C1 Heatmap: 0.3967, C2 Repulsion: 0.6569), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.146 0.993 1.380 0.787 -0.030 0.664 -179.99° +cabinet 1.226 1.049 0.361 -1.340 -0.000 -1.123 0.02° +wardrobe 1.123 2.357 0.356 -0.975 0.002 1.196 -179.89° +chair 0.470 0.647 0.450 -1.551 -0.014 0.264 -41.05° +lamp 0.190 0.579 0.213 0.991 2.177 -0.121 -0.07° +floor 4.383 -0.003 3.356 -0.816 -0.002 -0.358 -0.13° +_scene_ 0.072 0.000 0.022 -5.674 -0.005 -5.709 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.146, -0.003, 1.347] + !! OVERLAP: cabinet <-> floor depth=[1.226, -0.003, 0.361] + !! OVERLAP: wardrobe <-> floor depth=[1.123, -0.003, 0.302] + !! OVERLAP: chair <-> floor depth=[0.470, -0.003, 0.450] +============================================================ + + +============================================================ +SCENE: MasterBedroom-86835 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1930, Walkable Loss: 1.0836 (Center Penalty: 0.2497, C1 Heatmap: 0.4862, C2 Repulsion: 2.2250), Relational Loss: 0.0282 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.884 1.005 1.514 -0.981 0.010 0.941 89.94° +wardrobe 0.803 2.033 0.237 -1.325 -0.008 -0.927 90.03° +wardrobe 1.057 2.041 0.375 -0.465 -0.001 -1.216 0.18° +tv_stand 2.069 0.622 0.291 1.060 -0.002 0.884 -89.98° +nightstand 0.448 0.506 0.432 -1.488 0.001 0.066 90.03° +floor 3.745 -0.051 4.720 0.042 -0.007 0.969 -0.50° +_scene_ 0.074 0.001 0.024 -5.675 -0.006 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.159, 0.506, 0.097] + !! OVERLAP: bed <-> floor depth=[0.884, -0.051, 1.514] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.070, 2.030, 0.016] + !! OVERLAP: wardrobe <-> floor depth=[0.803, -0.051, 0.237] + !! OVERLAP: wardrobe <-> floor depth=[1.057, -0.051, 0.362] + !! OVERLAP: tv_stand <-> floor depth=[1.889, -0.051, 0.291] + !! OVERLAP: nightstand <-> floor depth=[0.448, -0.051, 0.432] +============================================================ + + +============================================================ +SCENE: SecondBedroom-86888 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5662 (Center Penalty: 1.1559, C1 Heatmap: 0.1844, C2 Repulsion: 1.3141), Relational Loss: 0.0234 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.655 0.946 0.935 -1.001 -0.047 -0.273 87.47° +nightstand 0.377 0.538 0.314 -1.242 0.001 0.439 90.02° +wardrobe 1.052 1.942 0.249 -0.119 0.005 1.573 -179.85° +nightstand 0.513 0.495 0.416 -1.096 0.002 -1.237 89.82° +floor 2.859 -0.002 3.740 -0.021 0.001 -0.029 -0.02° +_scene_ 0.069 0.001 0.019 -5.670 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.655, -0.002, 0.935] + !! OVERLAP: nightstand <-> floor depth=[0.377, -0.002, 0.314] + !! OVERLAP: wardrobe <-> floor depth=[1.052, -0.002, 0.249] + !! OVERLAP: nightstand <-> floor depth=[0.513, -0.002, 0.416] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9583 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0806, Walkable Loss: 1.9417 (Center Penalty: 0.6111, C1 Heatmap: 0.6422, C2 Repulsion: 4.0841), Relational Loss: 0.0223 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.809 0.876 0.196 1.316 -0.005 -0.093 -90.01° +lamp 0.677 0.724 0.695 -0.722 2.057 0.742 0.05° +bed 1.002 1.348 1.402 -0.845 -0.031 -0.296 91.25° +nightstand 0.412 0.487 0.368 -1.385 0.002 -1.280 89.96° +nightstand 0.384 0.524 0.347 -1.409 0.001 0.972 90.03° +table 0.667 1.219 0.309 -1.270 0.001 1.516 89.95° +wardrobe 1.914 2.247 0.240 -0.414 -0.002 -2.147 0.06° +desk 1.603 0.703 0.940 0.688 -0.006 1.091 -90.17° +floor 3.446 -0.008 5.011 0.145 -0.003 -0.855 -0.08° +_scene_ 0.073 0.000 0.021 -5.670 -0.005 -5.716 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.809, -0.008, 0.196] + !! OVERLAP: bed <-> floor depth=[1.002, -0.008, 1.402] + !! OVERLAP: nightstand <-> floor depth=[0.399, -0.008, 0.368] + !! OVERLAP: nightstand <-> floor depth=[0.361, -0.008, 0.347] + !! OVERLAP: table <-> floor depth=[0.642, -0.008, 0.289] + !! OVERLAP: wardrobe <-> floor depth=[1.914, -0.008, 0.240] + !! OVERLAP: desk <-> floor depth=[1.603, -0.008, 0.940] +============================================================ + + +============================================================ +SCENE: SecondBedroom-8823 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9838 (Center Penalty: 1.5882, C1 Heatmap: 0.3954, C2 Repulsion: 0.3964), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.557 1.147 1.855 0.721 -0.005 -0.652 -90.47° +nightstand 0.355 0.514 0.326 1.367 0.000 0.876 -89.88° +lamp 0.705 0.818 0.726 -0.634 2.038 -0.135 89.89° +floor 3.206 -0.002 3.165 -0.000 0.001 -0.003 -0.03° +_scene_ 0.067 -0.000 0.020 -5.675 -0.005 -5.719 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.557, -0.002, 1.855] + !! OVERLAP: nightstand <-> floor depth=[0.355, -0.002, 0.326] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13218 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1306, Walkable Loss: 3.4187 (Center Penalty: 2.4206, C1 Heatmap: 0.6394, C2 Repulsion: 2.4332), Relational Loss: 0.0611 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.561 1.473 1.645 -0.590 -0.001 -0.471 89.70° +wardrobe 2.064 2.230 0.409 -0.367 -0.007 1.348 -179.86° +nightstand 0.535 0.560 0.452 -1.027 -0.001 -1.188 89.97° +tv_stand 1.422 1.021 0.147 0.733 0.024 -0.816 -88.98° +lamp 0.484 0.474 0.470 0.076 2.040 0.049 -0.00° +floor 2.724 -0.001 3.254 0.003 0.001 0.010 -0.03° +_scene_ 0.071 0.000 0.021 -5.672 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.535, 0.560, 0.332] + !! OVERLAP: bed <-> tv_stand depth=[0.169, 1.021, 0.147] + !! OVERLAP: bed <-> floor depth=[1.549, -0.001, 1.645] + !! OVERLAP: wardrobe <-> floor depth=[2.024, -0.001, 0.409] + !! OVERLAP: nightstand <-> floor depth=[0.535, -0.001, 0.452] + !! OVERLAP: tv_stand <-> floor depth=[1.344, -0.001, 0.147] +============================================================ + + +============================================================ +SCENE: SecondBedroom-36408 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9603 (Center Penalty: 0.5143, C1 Heatmap: 0.5790, C2 Repulsion: 4.9143), Relational Loss: 0.0232 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.319 1.162 1.839 -0.605 0.003 0.904 89.72° +table 0.569 0.508 0.655 -1.164 -0.001 1.600 -0.06° +table 0.346 0.501 0.330 -1.276 0.008 -0.319 179.71° +wardrobe 0.819 2.059 0.347 -0.888 -0.004 -1.195 0.08° +wardrobe 0.704 2.013 0.262 -0.201 0.004 -1.153 0.15° +lamp 0.462 0.164 0.549 -0.009 2.509 1.195 0.16° +lamp 0.876 1.088 1.015 -0.531 1.452 2.127 0.37° +floor 2.959 -0.001 4.636 0.021 0.010 0.826 -0.08° +_scene_ 0.076 -0.001 0.021 -5.674 -0.006 -5.716 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.385, 0.508, 0.552] + !! OVERLAP: bed <-> floor depth=[1.319, -0.001, 1.839] + !! OVERLAP: table <-> floor depth=[0.569, -0.001, 0.655] + !! OVERLAP: table <-> floor depth=[0.346, -0.001, 0.330] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.074, 2.013, 0.262] + !! OVERLAP: wardrobe <-> floor depth=[0.819, -0.001, 0.347] + !! OVERLAP: wardrobe <-> floor depth=[0.704, -0.001, 0.262] +============================================================ + + +============================================================ +SCENE: MasterBedroom-36389 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0861, Walkable Loss: 2.1786 (Center Penalty: 1.0179, C1 Heatmap: 0.5929, C2 Repulsion: 3.4317), Relational Loss: 0.0153 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 2.149 1.102 1.302 -0.885 0.028 -0.204 -89.59° +nightstand 0.186 0.571 0.232 0.910 -0.012 2.004 -90.05° +nightstand 0.163 0.582 0.362 1.007 -0.015 0.326 -90.19° +wardrobe 1.575 2.110 0.290 -0.147 0.004 -0.800 0.11° +wardrobe 1.531 2.099 0.151 -0.119 -0.003 -0.788 -0.12° +lamp 0.982 0.982 0.943 0.110 1.800 0.970 -0.03° +floor 3.291 0.031 4.252 -0.599 -0.022 1.226 -0.39° +_scene_ 0.069 0.002 0.024 -5.672 -0.004 -5.713 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[1.124, 1.102, 0.201] + !! OVERLAP: bed <-> wardrobe depth=[1.073, 1.102, 0.143] + !! OVERLAP: bed <-> floor depth=[2.149, 0.031, 1.302] + !! OVERLAP: nightstand <-> floor depth=[0.186, 0.031, 0.232] + !! OVERLAP: nightstand <-> floor depth=[0.121, 0.031, 0.362] + !! OVERLAP: wardrobe <-> wardrobe depth=[1.525, 2.098, 0.151] + !! OVERLAP: wardrobe <-> floor depth=[1.575, 0.031, 0.246] + !! OVERLAP: wardrobe <-> floor depth=[1.531, 0.031, 0.151] +============================================================ + + +============================================================ +SCENE: SecondBedroom-7635 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.7384 (Center Penalty: 0.2063, C1 Heatmap: 0.3317, C2 Repulsion: 1.3336), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.755 1.504 1.411 0.388 0.003 -1.094 -90.29° +wardrobe 1.304 2.070 0.492 -0.933 0.001 -1.290 0.18° +desk 1.139 0.707 0.182 -1.719 0.020 1.050 89.90° +chair 0.361 0.596 0.326 -1.153 0.028 0.244 -69.29° +floor 3.883 0.020 3.216 -1.077 -0.009 -0.409 -0.20° +_scene_ 0.061 0.001 0.023 -5.669 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.755, 0.020, 1.411] + !! OVERLAP: wardrobe <-> floor depth=[1.304, 0.020, 0.492] + !! OVERLAP: desk <-> floor depth=[1.139, 0.020, 0.182] + !! OVERLAP: chair <-> floor depth=[0.361, 0.020, 0.326] +============================================================ + + +============================================================ +SCENE: Bedroom-1541 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7876 (Center Penalty: 1.3523, C1 Heatmap: 0.0848, C2 Repulsion: 1.8371), Relational Loss: 0.0258 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.216 1.069 0.701 0.740 0.096 0.773 -87.44° +table 0.329 0.517 0.208 1.267 0.003 0.630 -90.04° +wardrobe 1.165 2.439 0.112 0.695 -0.012 1.231 179.73° +lamp 0.734 0.920 0.317 -0.206 1.820 -0.852 -0.39° +floor 2.944 -0.002 3.178 0.000 0.001 -0.007 -0.01° +_scene_ 0.057 0.002 0.022 -5.672 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.216, -0.002, 0.701] + !! OVERLAP: table <-> floor depth=[0.329, -0.002, 0.208] + !! OVERLAP: wardrobe <-> floor depth=[1.165, -0.002, 0.112] +============================================================ + + +============================================================ +SCENE: Bedroom-11202 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5498 (Center Penalty: 0.7926, C1 Heatmap: 0.5616, C2 Repulsion: 1.5398), Relational Loss: 0.0027 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.308 0.981 1.941 0.359 0.020 0.670 179.73° +wardrobe 1.379 2.113 0.580 -1.456 0.002 -0.039 89.97° +desk 1.022 0.835 0.585 0.578 -0.002 1.150 179.91° +lamp 0.691 0.194 0.648 0.355 2.353 0.679 0.13° +floor 3.371 -0.001 2.873 -0.595 0.005 0.846 -0.06° +_scene_ 0.060 0.000 0.019 -5.672 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> desk depth=[0.946, 0.835, 0.585] + !! OVERLAP: bed <-> floor depth=[1.308, -0.001, 1.941] + !! OVERLAP: wardrobe <-> floor depth=[1.379, -0.001, 0.580] + !! OVERLAP: desk <-> floor depth=[1.022, -0.001, 0.585] +============================================================ + + +============================================================ +SCENE: Bedroom-26487 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0105, Walkable Loss: 1.9141 (Center Penalty: 0.7325, C1 Heatmap: 0.4468, C2 Repulsion: 4.1209), Relational Loss: 0.0206 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.751 1.365 1.448 -0.652 -0.007 0.628 91.19° +nightstand 0.295 0.585 0.378 -1.022 -0.000 2.046 89.91° +nightstand 0.214 0.568 0.228 -1.045 -0.011 -0.792 90.03° +tv_stand 1.420 0.440 0.263 1.235 -0.008 0.471 -89.71° +wardrobe 1.031 2.387 0.350 -0.610 0.007 -1.441 0.44° +wardrobe 0.837 2.374 0.406 0.113 -0.002 -1.328 0.00° +lamp -0.020 0.996 0.002 -1.177 1.116 -0.954 0.22° +lamp 0.065 0.817 0.104 -1.131 1.081 1.590 0.09° +lamp 0.856 0.861 0.761 0.166 2.013 0.875 0.08° +chair 0.406 0.704 0.385 -0.208 -0.001 2.054 146.98° +table 0.561 0.505 0.527 0.548 0.001 2.130 90.05° +floor 3.133 -0.014 4.974 0.368 -0.003 0.781 0.11° +_scene_ 0.071 -0.000 0.023 -5.668 -0.004 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.751, -0.014, 1.448] + !! OVERLAP: nightstand <-> floor depth=[0.295, -0.014, 0.378] + !! OVERLAP: nightstand <-> floor depth=[0.214, -0.014, 0.228] + !! OVERLAP: tv_stand <-> floor depth=[1.409, -0.014, 0.263] + !! OVERLAP: wardrobe <-> wardrobe depth=[0.211, 2.371, 0.265] + !! OVERLAP: wardrobe <-> floor depth=[1.031, -0.014, 0.350] + !! OVERLAP: wardrobe <-> floor depth=[0.837, -0.014, 0.406] + !! OVERLAP: chair <-> floor depth=[0.406, -0.014, 0.385] + !! OVERLAP: table <-> floor depth=[0.561, -0.014, 0.527] +============================================================ + + +============================================================ +SCENE: Bedroom-691 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1658 (Center Penalty: 0.8330, C1 Heatmap: 0.1661, C2 Repulsion: 1.0000), Relational Loss: 0.0019 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.499 0.893 0.633 -0.059 0.048 -1.163 95.55° +lamp 0.391 0.708 0.419 -0.367 1.992 -0.659 179.99° +wardrobe 1.258 2.607 0.656 0.386 -0.009 -0.988 -89.30° +floor 3.396 -0.001 3.342 -0.591 0.024 -0.433 0.11° +_scene_ 0.017 0.004 0.006 -5.565 -0.001 -5.635 -57.47° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.433, 0.893, 0.470] + !! OVERLAP: bed <-> floor depth=[0.499, -0.001, 0.633] + !! OVERLAP: wardrobe <-> floor depth=[1.258, -0.001, 0.656] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14817 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9926 (Center Penalty: 1.3598, C1 Heatmap: 0.4211, C2 Repulsion: 1.4794), Relational Loss: 0.0603 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.375 0.574 0.346 -0.895 0.003 -1.175 -0.00° +bed 1.396 1.077 1.611 0.527 -0.040 -0.505 -0.69° +nightstand 0.461 0.612 0.457 1.728 0.000 -0.874 -89.82° +wardrobe 0.959 2.568 0.485 -1.706 0.006 -0.279 90.22° +floor 4.436 -0.001 2.798 -0.006 -0.001 0.015 -0.04° +_scene_ 0.069 0.001 0.022 -5.673 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.375, -0.001, 0.346] + !! OVERLAP: bed <-> floor depth=[1.396, -0.001, 1.611] + !! OVERLAP: nightstand <-> floor depth=[0.461, -0.001, 0.457] + !! OVERLAP: wardrobe <-> floor depth=[0.959, -0.001, 0.485] +============================================================ + + +============================================================ +SCENE: MasterBedroom-30192 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0235, Walkable Loss: 0.9643 (Center Penalty: 0.3333, C1 Heatmap: 0.2866, C2 Repulsion: 2.0086), Relational Loss: 0.0277 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.571 1.343 0.902 -1.291 -0.022 0.172 91.37° +nightstand 0.402 0.417 0.163 -1.592 0.013 -0.652 90.37° +wardrobe 1.313 2.494 0.462 -1.091 -0.006 1.832 -179.92° +wardrobe 1.083 2.512 0.183 1.054 0.011 -0.661 -90.39° +chair 0.402 0.754 0.697 1.275 -0.005 -0.040 -90.29° +lamp 0.583 0.799 0.609 -0.923 2.211 0.404 -0.36° +nightstand 0.329 0.448 0.254 -1.596 -0.012 1.029 90.21° +floor 4.026 -0.022 3.555 -0.431 0.014 1.035 -0.14° +_scene_ 0.073 0.000 0.022 -5.674 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.571, -0.022, 0.902] + !! OVERLAP: nightstand <-> floor depth=[0.402, -0.022, 0.163] + !! OVERLAP: wardrobe <-> floor depth=[1.313, -0.022, 0.462] + !! OVERLAP: wardrobe <-> floor depth=[1.070, -0.022, 0.173] + !! OVERLAP: chair <-> floor depth=[0.402, -0.022, 0.697] + !! OVERLAP: nightstand <-> floor depth=[0.329, -0.022, 0.254] +============================================================ + + +============================================================ +SCENE: Bedroom-41491 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0093 (Center Penalty: 0.3716, C1 Heatmap: 0.3774, C2 Repulsion: 1.6790), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.183 1.100 1.725 -0.894 0.004 0.390 90.56° +desk 1.035 0.978 0.422 -1.096 -0.001 -1.574 -179.76° +chair 0.469 0.947 0.420 -0.965 0.003 -0.775 -164.15° +lamp 0.665 0.157 0.354 -0.676 2.443 0.797 -0.49° +floor 2.794 0.062 4.119 -0.874 0.012 -0.789 -0.69° +_scene_ 0.068 0.001 0.022 -5.668 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.183, 0.062, 1.725] + !! OVERLAP: desk <-> floor depth=[1.035, 0.062, 0.422] + !! OVERLAP: chair <-> floor depth=[0.469, 0.062, 0.420] +============================================================ + + +============================================================ +SCENE: MasterBedroom-49865 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1135, Walkable Loss: 1.1868 (Center Penalty: 0.6557, C1 Heatmap: 0.3523, C2 Repulsion: 1.2460), Relational Loss: 0.0348 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.129 1.388 1.342 1.025 -0.026 0.147 179.97° +nightstand 0.494 0.694 0.240 -0.736 -0.004 0.851 -179.63° +nightstand 0.536 0.554 0.340 1.495 -0.004 0.766 -179.73° +wardrobe 1.272 2.326 0.501 -1.911 -0.001 0.006 89.95° +lamp 0.270 0.702 0.233 0.851 1.798 -0.492 -0.22° +floor 4.626 -0.010 2.911 -0.522 0.000 -0.559 -0.15° +_scene_ 0.068 -0.001 0.017 -5.673 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.362, 0.554, 0.221] + !! OVERLAP: bed <-> floor depth=[1.129, -0.010, 1.342] + !! OVERLAP: nightstand <-> floor depth=[0.494, -0.010, 0.166] + !! OVERLAP: nightstand <-> floor depth=[0.536, -0.010, 0.300] + !! OVERLAP: wardrobe <-> floor depth=[1.272, -0.010, 0.501] +============================================================ + + +============================================================ +SCENE: MasterBedroom-16450 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1003, Walkable Loss: 1.0434 (Center Penalty: 0.3971, C1 Heatmap: 0.3987, C2 Repulsion: 1.6372), Relational Loss: 0.0003 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.436 0.722 1.686 -0.863 -0.005 -0.633 0.01° +cabinet 0.667 0.917 0.138 -0.971 0.004 1.269 179.98° +nightstand 0.326 0.688 0.366 0.650 -0.006 -1.177 0.12° +nightstand 0.669 0.690 0.414 -1.519 -0.001 -1.213 -0.01° +lamp 0.874 0.457 0.361 -0.758 2.251 0.457 0.24° +floor 3.828 -0.022 2.965 -1.201 -0.027 -0.121 1.53° +_scene_ 0.071 -0.000 0.028 -5.674 -0.002 -5.715 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.397, 0.690, 0.414] + !! OVERLAP: bed <-> floor depth=[1.436, -0.022, 1.686] + !! OVERLAP: cabinet <-> floor depth=[0.667, -0.022, 0.138] + !! OVERLAP: nightstand <-> floor depth=[0.226, -0.022, 0.366] + !! OVERLAP: nightstand <-> floor depth=[0.669, -0.022, 0.414] +============================================================ + + +============================================================ +SCENE: SecondBedroom-14328 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0428, Walkable Loss: 2.5553 (Center Penalty: 1.3467, C1 Heatmap: 0.6416, C2 Repulsion: 3.4765), Relational Loss: 0.0513 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.302 1.326 0.334 -1.115 0.005 0.853 -179.94° +nightstand 0.547 0.461 0.405 -1.319 -0.001 -1.218 -0.01° +bed 1.900 0.740 2.043 -0.788 -0.008 0.064 0.06° +nightstand 0.299 0.528 0.255 1.173 -0.001 -1.282 0.02° +wardrobe 1.392 2.550 -0.281 1.011 0.010 -0.780 -91.37° +floor 3.430 -0.002 2.970 -0.024 0.000 0.004 -0.02° +_scene_ 0.071 0.000 0.019 -5.671 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> bed depth=[1.275, 0.740, 0.334] + !! OVERLAP: table <-> floor depth=[1.276, -0.002, 0.334] + !! OVERLAP: nightstand <-> floor depth=[0.547, -0.002, 0.405] + !! OVERLAP: bed <-> floor depth=[1.900, -0.002, 2.043] + !! OVERLAP: nightstand <-> floor depth=[0.299, -0.002, 0.255] + !! OVERLAP: wardrobe <-> floor depth=[1.375, -0.002, -0.281] +============================================================ + + +============================================================ +SCENE: SecondBedroom-39108 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9727 (Center Penalty: 0.5335, C1 Heatmap: 0.4892, C2 Repulsion: 0.2396), Relational Loss: 0.0161 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.905 1.111 0.456 -1.532 0.001 0.239 89.90° +cabinet 0.874 1.047 0.365 -1.562 -0.001 -1.457 90.09° +bed 1.334 0.786 2.145 0.952 0.046 -0.841 -0.01° +lamp 0.293 0.815 0.294 0.255 1.825 -0.834 -0.09° +lamp 0.448 0.776 0.475 0.912 2.234 -1.284 -0.03° +lamp 0.170 0.797 0.073 -1.158 2.026 1.128 -89.94° +floor 3.753 0.005 4.401 -0.154 0.001 -0.812 0.14° +_scene_ 0.065 0.003 0.018 -5.674 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.905, 0.005, 0.456] + !! OVERLAP: cabinet <-> floor depth=[0.874, 0.005, 0.365] + !! OVERLAP: bed <-> floor depth=[1.334, 0.005, 2.145] +============================================================ + + +============================================================ +SCENE: MasterBedroom-19531 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1368, Walkable Loss: 2.2788 (Center Penalty: 1.3043, C1 Heatmap: 0.5342, C2 Repulsion: 2.7362), Relational Loss: 0.0423 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.447 0.367 0.435 1.021 2.328 -0.047 -1.20° +bed 1.322 1.225 1.722 0.821 0.005 -0.590 -0.73° +nightstand 0.467 0.635 0.343 -0.728 -0.002 -1.266 0.00° +nightstand 0.633 0.613 0.549 1.418 0.001 -1.112 0.03° +wardrobe 1.865 2.508 0.374 -1.154 0.003 -0.576 89.83° +floor 3.891 -0.003 3.132 -0.004 0.000 0.010 -0.02° +_scene_ 0.068 -0.000 0.023 -5.671 -0.004 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.381, 0.613, 0.549] + !! OVERLAP: bed <-> floor depth=[1.322, -0.003, 1.722] + !! OVERLAP: nightstand <-> floor depth=[0.467, -0.003, 0.343] + !! OVERLAP: nightstand <-> floor depth=[0.633, -0.003, 0.549] + !! OVERLAP: wardrobe <-> floor depth=[1.728, -0.003, 0.374] +============================================================ + + +============================================================ +SCENE: Bedroom-74 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0403, Walkable Loss: 1.8914 (Center Penalty: 1.4632, C1 Heatmap: 0.4393, C2 Repulsion: 0.3839), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.433 1.629 1.817 -0.907 0.010 -0.239 90.22° +lamp 0.609 0.495 0.606 -0.700 2.151 0.521 -0.06° +wardrobe 1.115 2.283 0.556 1.121 -0.003 -0.225 -89.93° +floor 3.285 0.001 3.118 -0.005 0.000 -0.005 -0.03° +_scene_ 0.044 0.004 0.005 -5.668 -0.006 -5.719 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.433, 0.001, 1.817] + !! OVERLAP: wardrobe <-> floor depth=[1.074, 0.001, 0.556] +============================================================ + + +============================================================ +SCENE: Bedroom-15856 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3506 (Center Penalty: 0.8557, C1 Heatmap: 0.3418, C2 Repulsion: 1.1073), Relational Loss: 0.0500 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.056 1.212 1.355 -0.429 -0.016 0.818 91.78° +nightstand 0.463 0.647 0.390 -1.247 0.003 -1.071 90.01° +nightstand 0.056 0.978 0.054 0.561 0.002 -0.501 91.12° +lamp 0.724 0.334 0.351 0.806 2.452 -0.336 -0.03° +chair 0.413 0.872 0.409 1.543 0.018 -0.552 -35.67° +tv_stand 1.552 0.531 0.242 2.027 0.003 0.183 -89.66° +floor 4.981 -0.029 3.116 0.995 0.019 0.223 -0.23° +_scene_ 0.072 -0.000 0.024 -5.671 -0.004 -5.714 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.056, -0.029, 1.355] + !! OVERLAP: nightstand <-> floor depth=[0.463, -0.029, 0.390] + !! OVERLAP: nightstand <-> floor depth=[0.056, -0.029, 0.054] + !! OVERLAP: chair <-> floor depth=[0.413, -0.029, 0.409] + !! OVERLAP: tv_stand <-> floor depth=[1.552, -0.029, 0.242] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3845 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3578 (Center Penalty: 0.6997, C1 Heatmap: 0.4190, C2 Repulsion: 1.6144), Relational Loss: 0.0317 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.602 2.501 0.321 -0.695 -0.004 1.455 -179.84° +bed 0.806 0.892 1.153 -1.065 0.005 -0.637 91.41° +nightstand 0.430 0.541 0.346 -1.545 -0.001 -1.649 90.07° +nightstand 0.457 0.575 0.403 -1.539 0.005 0.641 89.95° +lamp 0.523 0.090 0.549 -0.190 2.531 -0.867 -0.06° +floor 3.382 -0.004 4.425 -0.441 -0.003 -0.468 -0.00° +_scene_ 0.067 -0.000 0.018 -5.665 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.602, -0.004, 0.321] + !! OVERLAP: bed <-> floor depth=[0.806, -0.004, 1.153] + !! OVERLAP: nightstand <-> floor depth=[0.430, -0.004, 0.346] + !! OVERLAP: nightstand <-> floor depth=[0.457, -0.004, 0.403] +============================================================ + + +============================================================ +SCENE: MasterBedroom-14075 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2645, Walkable Loss: 1.2674 (Center Penalty: 0.5279, C1 Heatmap: 0.5529, C2 Repulsion: 1.4860), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.213 0.974 1.153 0.860 -0.016 0.389 179.45° +tv_stand 2.994 0.723 0.457 0.286 -0.001 -1.308 0.01° +lamp 0.588 0.513 0.556 0.659 2.235 0.597 0.10° +nightstand 0.479 0.502 0.170 1.420 0.003 1.300 179.67° +nightstand 0.379 0.485 0.181 -0.856 -0.001 1.165 -179.65° +floor 4.353 0.000 3.268 0.950 -0.012 -0.446 -0.18° +_scene_ 0.070 0.001 0.035 -5.664 -0.004 -5.707 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.213, 0.000, 1.153] + !! OVERLAP: tv_stand <-> floor depth=[2.994, 0.000, 0.457] + !! OVERLAP: nightstand <-> floor depth=[0.379, 0.000, 0.114] +============================================================ + + +============================================================ +SCENE: Bedroom-22495 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0736, Walkable Loss: 1.0515 (Center Penalty: 0.5144, C1 Heatmap: 0.5798, C2 Repulsion: 0.3664), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.885 1.368 2.188 0.315 0.000 1.060 179.86° +lamp 0.745 0.947 0.719 0.459 1.699 0.589 0.12° +wardrobe 1.252 2.046 0.385 0.533 0.005 -1.282 0.14° +floor 3.608 -0.027 4.209 0.878 0.009 0.703 0.26° +_scene_ 0.076 0.006 0.034 -5.666 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.885, -0.027, 2.188] + !! OVERLAP: wardrobe <-> floor depth=[1.252, -0.027, 0.311] +============================================================ + + +============================================================ +SCENE: MasterBedroom-22581 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0510, Walkable Loss: 1.1022 (Center Penalty: 0.3585, C1 Heatmap: 0.3750, C2 Repulsion: 2.2185), Relational Loss: 0.0026 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.686 0.725 0.641 1.402 -0.003 -1.052 -0.49° +chair 0.376 0.674 0.479 2.099 -0.000 -0.724 179.66° +wardrobe 0.623 2.222 0.404 -1.509 -0.008 -0.215 90.44° +cabinet 0.615 1.031 0.272 1.792 0.002 1.438 179.98° +nightstand 0.654 0.831 0.441 -0.946 0.002 -1.291 0.04° +bed 0.683 1.233 0.831 0.451 -0.069 -1.030 0.07° +lamp 0.480 0.244 0.469 0.993 2.350 0.522 0.21° +floor 5.388 -0.013 3.294 0.925 -0.017 0.024 -0.08° +_scene_ 0.066 0.002 0.024 -5.669 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.334, 0.674, 0.232] + !! OVERLAP: desk <-> bed depth=[0.234, 0.725, 0.641] + !! OVERLAP: desk <-> floor depth=[1.686, -0.013, 0.641] + !! OVERLAP: chair <-> floor depth=[0.376, -0.013, 0.479] + !! OVERLAP: wardrobe <-> floor depth=[0.572, -0.013, 0.404] + !! OVERLAP: cabinet <-> floor depth=[0.615, -0.013, 0.272] + !! OVERLAP: nightstand <-> floor depth=[0.654, -0.013, 0.441] + !! OVERLAP: bed <-> floor depth=[0.683, -0.013, 0.831] +============================================================ + + +============================================================ +SCENE: Bedroom-54381 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2220, Walkable Loss: 0.6252 (Center Penalty: 0.4695, C1 Heatmap: 0.1885, C2 Repulsion: 0.0247), Relational Loss: 0.0001 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.817 1.196 1.555 1.597 -0.015 -0.536 92.49° +nightstand 0.210 0.517 0.296 -0.708 0.024 -1.559 90.17° +nightstand 0.091 0.488 0.226 -0.527 -0.024 1.085 88.66° +lamp 0.929 0.742 0.522 0.340 1.841 -0.724 0.67° +floor 2.962 -0.001 3.874 0.890 -0.018 -0.474 -0.19° +_scene_ 0.065 0.001 0.015 -5.669 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.817, -0.001, 1.555] + !! OVERLAP: nightstand <-> floor depth=[0.091, -0.001, 0.226] +============================================================ + + +============================================================ +SCENE: Bedroom-5215 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2694 (Center Penalty: 0.5199, C1 Heatmap: 0.4114, C2 Repulsion: 2.1022), Relational Loss: 0.0146 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.242 1.153 1.618 0.755 0.007 -0.983 -0.19° +nightstand 0.543 0.485 0.368 -0.355 -0.001 -1.475 -0.12° +table 0.942 1.064 0.442 1.490 0.002 1.764 179.95° +chair 0.435 0.430 0.424 1.265 -0.001 0.910 -0.19° +wardrobe 0.400 2.007 0.438 -0.998 -0.006 -0.922 91.77° +lamp 0.514 0.201 0.510 0.824 2.290 -0.082 -0.12° +floor 4.416 -0.012 4.360 0.871 -0.010 0.324 0.64° +_scene_ 0.073 -0.000 0.022 -5.670 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.242, -0.012, 1.618] + !! OVERLAP: nightstand <-> floor depth=[0.543, -0.012, 0.368] + !! OVERLAP: table <-> floor depth=[0.942, -0.012, 0.442] + !! OVERLAP: chair <-> floor depth=[0.435, -0.012, 0.424] + !! OVERLAP: wardrobe <-> floor depth=[0.400, -0.012, 0.438] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12479 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0457, Walkable Loss: 1.8763 (Center Penalty: 1.3499, C1 Heatmap: 0.3640, C2 Repulsion: 1.1761), Relational Loss: 0.0254 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.254 1.316 1.008 0.111 -0.008 -1.104 -0.24° +nightstand 0.454 0.640 0.349 -1.092 0.002 -1.471 -0.03° +nightstand 0.503 0.702 0.400 1.261 0.001 -1.438 0.04° +shelf 0.545 1.030 0.224 -1.222 0.001 1.392 -179.98° +tv_stand 1.670 0.581 0.314 0.626 0.005 1.530 -180.00° +lamp 0.968 0.538 0.534 0.675 2.127 -0.461 -0.01° +floor 3.728 -0.005 3.331 -0.044 -0.000 -0.025 -0.04° +_scene_ 0.072 -0.000 0.024 -5.670 -0.005 -5.711 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.254, -0.005, 1.008] + !! OVERLAP: nightstand <-> floor depth=[0.454, -0.005, 0.349] + !! OVERLAP: nightstand <-> floor depth=[0.503, -0.005, 0.400] + !! OVERLAP: shelf <-> floor depth=[0.545, -0.005, 0.224] + !! OVERLAP: tv_stand <-> floor depth=[1.670, -0.005, 0.268] +============================================================ + + +============================================================ +SCENE: SecondBedroom-37794 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1154, Walkable Loss: 1.1279 (Center Penalty: 0.4874, C1 Heatmap: 0.3136, C2 Repulsion: 1.9481), Relational Loss: 0.0425 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.710 0.923 0.659 -0.596 1.704 -0.508 0.09° +bed 1.245 1.040 1.519 -0.746 -0.002 -0.843 -0.02° +nightstand 0.382 0.580 0.287 -1.712 0.001 -1.462 0.15° +chair 0.357 0.555 0.417 1.360 0.001 -1.112 0.19° +table 0.757 1.782 0.088 1.070 -0.000 -1.183 -90.49° +floor 4.984 0.027 3.207 -1.056 -0.048 -0.069 0.15° +_scene_ 0.070 0.001 0.022 -5.672 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.245, 0.027, 1.519] + !! OVERLAP: nightstand <-> floor depth=[0.382, 0.027, 0.287] + !! OVERLAP: chair <-> table depth=[0.267, 0.555, 0.088] + !! OVERLAP: chair <-> floor depth=[0.255, 0.027, 0.417] + !! OVERLAP: table <-> floor depth=[0.745, 0.027, 0.088] +============================================================ + + +============================================================ +SCENE: SecondBedroom-69017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0939, Walkable Loss: 1.2061 (Center Penalty: 0.5384, C1 Heatmap: 0.3296, C2 Repulsion: 2.0202), Relational Loss: 0.0301 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.535 1.322 1.044 -0.893 -0.034 -0.949 -2.21° +nightstand 0.321 0.750 0.095 0.497 -0.005 -1.486 0.07° +nightstand 0.462 0.779 0.303 -1.677 -0.002 -1.412 0.02° +chair 1.299 0.492 0.654 -0.667 -0.001 0.871 -0.05° +lamp 0.742 0.847 0.318 -0.937 1.978 -0.149 -0.33° +wardrobe 1.438 2.511 0.297 0.414 0.006 -0.978 -88.47° +floor 4.039 0.000 3.011 -0.980 -0.021 -0.174 0.34° +_scene_ 0.067 0.000 0.024 -5.674 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.535, 0.000, 1.044] + !! OVERLAP: nightstand <-> floor depth=[0.321, 0.000, 0.095] + !! OVERLAP: nightstand <-> floor depth=[0.462, 0.000, 0.303] + !! OVERLAP: chair <-> floor depth=[1.299, 0.000, 0.654] + !! OVERLAP: wardrobe <-> floor depth=[1.344, 0.000, 0.297] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1615 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0013, Walkable Loss: 1.2349 (Center Penalty: 0.8913, C1 Heatmap: 0.2214, C2 Repulsion: 0.8327), Relational Loss: 0.0207 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.311 0.860 1.049 0.805 -0.008 0.876 -90.49° +wardrobe 1.226 2.352 0.106 0.699 0.022 -0.303 -1.03° +nightstand 0.055 0.467 0.160 1.343 0.008 0.226 -90.35° +nightstand 0.359 0.513 0.385 1.177 -0.000 1.707 -89.95° +lamp 0.442 0.124 0.433 -0.004 2.447 0.802 0.08° +tv_stand 1.395 0.713 0.299 -0.991 -0.021 0.671 89.48° +floor 3.134 0.005 3.987 -0.120 -0.007 0.947 0.03° +_scene_ 0.071 -0.000 0.021 -5.670 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.311, 0.005, 1.049] + !! OVERLAP: wardrobe <-> floor depth=[1.226, 0.005, 0.106] + !! OVERLAP: nightstand <-> floor depth=[0.055, 0.005, 0.160] + !! OVERLAP: nightstand <-> floor depth=[0.359, 0.005, 0.385] + !! OVERLAP: tv_stand <-> floor depth=[1.394, 0.005, 0.299] +============================================================ + + +============================================================ +SCENE: MasterBedroom-8979 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6145 (Center Penalty: 0.2077, C1 Heatmap: 0.1671, C2 Repulsion: 1.3656), Relational Loss: 0.0456 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.232 2.333 0.231 -1.516 0.004 -1.293 90.44° +bed 0.871 1.091 0.608 0.365 0.050 -1.100 -0.34° +nightstand 0.134 0.491 0.330 1.154 -0.020 -1.429 0.03° +nightstand 0.406 0.491 0.359 -0.909 0.000 -1.114 0.01° +floor 4.004 -0.019 2.887 -0.742 0.015 -0.708 -0.26° +_scene_ 0.074 0.001 0.023 -5.672 -0.005 -5.715 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> nightstand depth=[0.211, 0.491, 0.116] + !! OVERLAP: wardrobe <-> floor depth=[1.232, -0.019, 0.231] + !! OVERLAP: bed <-> floor depth=[0.871, -0.019, 0.608] + !! OVERLAP: nightstand <-> floor depth=[0.134, -0.019, 0.330] + !! OVERLAP: nightstand <-> floor depth=[0.406, -0.019, 0.359] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6631 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1213 (Center Penalty: 1.2040, C1 Heatmap: 0.5902, C2 Repulsion: 2.2255), Relational Loss: 0.0150 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.480 1.395 1.739 -0.904 -0.013 -0.768 89.61° +nightstand 0.386 0.561 0.313 -1.381 -0.000 1.154 90.03° +wardrobe 1.699 2.603 0.329 -0.492 0.013 1.703 179.16° +chair 0.707 0.864 0.604 -1.346 0.001 -1.543 7.60° +tv_stand 1.064 0.464 0.220 1.160 -0.003 -0.862 -90.20° +lamp 0.726 0.114 0.662 0.005 2.413 -0.933 -0.27° +floor 3.474 -0.004 4.478 -0.002 0.001 -0.161 -0.01° +_scene_ 0.071 -0.000 0.022 -5.674 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> chair depth=[0.651, 0.864, 0.397] + !! OVERLAP: bed <-> floor depth=[1.480, -0.004, 1.739] + !! OVERLAP: nightstand <-> floor depth=[0.386, -0.004, 0.313] + !! OVERLAP: wardrobe <-> floor depth=[1.699, -0.004, 0.329] + !! OVERLAP: chair <-> floor depth=[0.707, -0.004, 0.604] + !! OVERLAP: tv_stand <-> floor depth=[1.064, -0.004, 0.220] +============================================================ + + +============================================================ +SCENE: MasterBedroom-58086 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6931 (Center Penalty: 0.4028, C1 Heatmap: 0.2157, C2 Repulsion: 0.5884), Relational Loss: 0.0045 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.849 0.923 0.282 0.146 0.004 -1.309 179.09° +wardrobe 1.842 2.454 0.443 0.367 0.012 0.936 179.66° +chair 0.149 1.170 0.395 -0.012 -0.003 -1.817 -116.42° +floor 2.617 0.043 4.004 0.309 -0.009 -0.789 -0.22° +_scene_ 0.042 0.017 0.034 -5.531 -0.006 -5.607 -58.07° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.849, 0.043, 0.282] + !! OVERLAP: wardrobe <-> floor depth=[1.842, 0.043, 0.443] + !! OVERLAP: chair <-> floor depth=[0.149, 0.043, 0.395] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34041 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0704 (Center Penalty: 0.6919, C1 Heatmap: 0.1428, C2 Repulsion: 1.3209), Relational Loss: 0.0414 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.223 1.152 1.315 0.940 -0.010 -0.954 0.99° +nightstand 0.367 0.619 0.262 -0.060 0.005 -1.198 -0.34° +wardrobe 1.273 2.567 -0.065 -0.319 -0.006 -1.156 90.02° +nightstand 0.415 0.527 0.336 1.861 0.001 -1.262 -0.01° +lamp 0.666 0.829 0.591 0.843 2.063 0.319 -0.14° +floor 4.159 0.003 2.790 0.672 -0.009 -0.256 -0.18° +_scene_ 0.071 0.000 0.021 -5.671 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.223, 0.003, 1.315] + !! OVERLAP: nightstand <-> wardrobe depth=[0.367, 0.619, -0.065] + !! OVERLAP: nightstand <-> floor depth=[0.367, 0.003, 0.262] + !! OVERLAP: wardrobe <-> floor depth=[1.273, 0.003, -0.065] + !! OVERLAP: nightstand <-> floor depth=[0.415, 0.003, 0.336] +============================================================ + + +============================================================ +SCENE: MasterBedroom-63654 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2961 (Center Penalty: 0.8316, C1 Heatmap: 0.2472, C2 Repulsion: 1.3337), Relational Loss: 0.0414 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.468 0.497 0.357 0.485 -0.000 -1.442 -0.47° +nightstand 0.528 0.521 0.425 -1.494 0.000 -1.507 0.04° +lamp 0.894 0.914 0.896 -0.681 1.982 -0.323 -0.00° +bed 0.995 1.243 1.400 -0.804 0.001 -0.952 -0.08° +floor 4.470 -0.004 3.706 -0.622 -0.007 -0.076 0.08° +_scene_ 0.067 0.001 0.022 -5.672 -0.004 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.468, -0.004, 0.357] + !! OVERLAP: nightstand <-> bed depth=[0.072, 0.521, 0.358] + !! OVERLAP: nightstand <-> floor depth=[0.528, -0.004, 0.425] + !! OVERLAP: bed <-> floor depth=[0.995, -0.004, 1.400] +============================================================ + + +============================================================ +SCENE: Bedroom-21085 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1002, Walkable Loss: 1.1048 (Center Penalty: 0.8366, C1 Heatmap: 0.1719, C2 Repulsion: 0.6534), Relational Loss: 0.0328 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.224 0.643 0.144 1.550 0.001 1.465 -90.30° +nightstand 0.488 0.633 0.288 1.389 0.016 -0.352 -0.00° +nightstand 0.484 0.973 0.060 -0.332 0.019 0.834 0.63° +bed 0.642 1.289 0.967 0.771 0.038 0.814 -1.15° +wardrobe 0.983 2.526 0.277 -1.554 -0.007 0.193 90.21° +lamp 0.812 0.855 0.786 0.335 1.938 0.641 -0.01° +floor 3.883 -0.013 2.740 -0.052 -0.006 0.923 0.95° +_scene_ 0.067 -0.001 0.027 -5.675 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.224, -0.013, 0.144] + !! OVERLAP: nightstand <-> floor depth=[0.488, -0.013, 0.240] + !! OVERLAP: nightstand <-> floor depth=[0.484, -0.013, 0.060] + !! OVERLAP: bed <-> floor depth=[0.642, -0.013, 0.967] + !! OVERLAP: wardrobe <-> floor depth=[0.931, -0.013, 0.277] +============================================================ + + +============================================================ +SCENE: Bedroom-13675 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1478, Walkable Loss: 1.1175 (Center Penalty: 0.5308, C1 Heatmap: 0.5881, C2 Repulsion: 0.5811), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.969 0.755 1.530 -1.127 -0.003 -0.298 90.44° +wardrobe 1.644 2.388 0.807 0.943 0.001 -0.565 -90.50° +lamp 0.554 0.807 0.556 -0.518 1.868 -0.858 179.77° +floor 3.829 -0.006 3.702 -0.297 -0.002 -0.788 -0.01° +_scene_ 0.056 0.000 0.014 -5.683 -0.005 -5.717 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.969, -0.006, 1.530] + !! OVERLAP: wardrobe <-> floor depth=[1.497, -0.006, 0.807] +============================================================ + + +============================================================ +SCENE: MasterBedroom-32488 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0056, Walkable Loss: 1.3442 (Center Penalty: 0.4787, C1 Heatmap: 0.4600, C2 Repulsion: 2.4876), Relational Loss: 0.0255 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.557 1.121 0.070 -2.178 -0.001 -1.137 0.01° +nightstand 0.447 0.584 0.311 0.137 -0.001 -1.177 0.16° +chair 0.414 0.454 0.456 -2.223 -0.002 -0.535 -89.72° +bed 1.347 1.461 1.202 -1.103 -0.016 -0.522 -0.74° +cabinet 0.702 1.026 0.352 -2.170 0.003 1.568 -179.96° +lamp 0.853 0.898 0.827 -1.101 1.855 0.013 -0.02° +wardrobe 1.661 2.309 0.487 0.677 -0.023 0.752 -89.54° +floor 6.066 0.005 3.196 -0.935 -0.001 0.271 0.07° +_scene_ 0.070 0.000 0.019 -5.673 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.557, 0.005, 0.070] + !! OVERLAP: nightstand <-> floor depth=[0.447, 0.005, 0.305] + !! OVERLAP: chair <-> floor depth=[0.414, 0.005, 0.456] + !! OVERLAP: bed <-> floor depth=[1.347, 0.005, 1.202] + !! OVERLAP: cabinet <-> floor depth=[0.702, 0.005, 0.352] + !! OVERLAP: wardrobe <-> floor depth=[1.661, 0.005, 0.487] +============================================================ + + +============================================================ +SCENE: MasterBedroom-45545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1357, Walkable Loss: 2.2766 (Center Penalty: 1.2742, C1 Heatmap: 0.4608, C2 Repulsion: 3.1689), Relational Loss: 0.0297 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.810 1.476 0.382 1.544 -0.001 1.372 179.95° +bed 1.094 1.697 1.349 0.223 0.025 -1.001 -1.98° +nightstand 0.449 0.542 0.441 -1.078 -0.000 -1.252 0.02° +nightstand 0.473 0.655 0.417 1.635 0.001 -1.309 0.05° +lamp 0.918 1.471 0.421 0.370 1.199 -0.899 -0.15° +wardrobe 1.217 2.491 0.511 -1.500 -0.017 -0.834 90.34° +floor 3.945 -0.002 3.330 -0.000 0.001 -0.056 -0.01° +_scene_ 0.070 0.000 0.022 -5.673 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.810, -0.002, 0.382] + !! OVERLAP: bed <-> lamp depth=[0.860, 0.410, 0.421] + !! OVERLAP: bed <-> floor depth=[1.094, -0.002, 1.349] + !! OVERLAP: nightstand <-> wardrobe depth=[0.412, 0.542, 0.058] + !! OVERLAP: nightstand <-> floor depth=[0.449, -0.002, 0.441] + !! OVERLAP: nightstand <-> floor depth=[0.473, -0.002, 0.417] + !! OVERLAP: wardrobe <-> floor depth=[1.082, -0.002, 0.511] +============================================================ + + +============================================================ +SCENE: Bedroom-18759 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0515, Walkable Loss: 1.5015 (Center Penalty: 0.7734, C1 Heatmap: 0.4504, C2 Repulsion: 1.8388), Relational Loss: 0.0173 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.907 2.050 1.299 -0.991 -0.056 0.761 89.50° +nightstand 0.427 0.452 0.305 -1.390 0.000 -0.110 89.99° +nightstand 0.356 0.495 0.350 -1.351 0.004 1.756 89.98° +tv_stand 1.457 0.632 0.325 0.810 -0.002 0.607 -90.35° +lamp 0.593 0.939 0.509 -0.247 1.578 0.830 0.22° +wardrobe 1.752 2.271 0.436 -0.687 -0.005 -1.374 0.12° +floor 3.239 -0.014 4.742 -0.133 -0.005 0.714 -0.36° +_scene_ 0.070 -0.001 0.022 -5.668 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.907, -0.014, 1.299] + !! OVERLAP: nightstand <-> floor depth=[0.427, -0.014, 0.305] + !! OVERLAP: nightstand <-> floor depth=[0.356, -0.014, 0.350] + !! OVERLAP: tv_stand <-> floor depth=[1.406, -0.014, 0.325] + !! OVERLAP: wardrobe <-> floor depth=[1.752, -0.014, 0.436] +============================================================ + + +============================================================ +SCENE: MasterBedroom-29436 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6790 (Center Penalty: 0.6370, C1 Heatmap: 0.7607, C2 Repulsion: 2.1667), Relational Loss: 0.0021 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.917 0.920 2.068 0.283 0.005 1.193 179.90° +wardrobe 1.255 2.288 0.594 -1.826 -0.004 -1.254 0.06° +tv_stand 1.662 0.494 0.383 0.193 0.000 -1.363 -0.03° +table 0.515 1.111 0.381 -0.630 0.002 1.954 -179.96° +table 0.564 1.163 0.296 2.147 0.002 1.760 -90.07° +lamp 0.888 0.930 0.848 0.333 1.697 0.910 -0.06° +floor 4.931 -0.007 4.815 0.011 0.001 0.665 0.07° +_scene_ 0.077 0.001 0.018 -5.672 -0.005 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.302, 0.920, 0.381] + !! OVERLAP: bed <-> floor depth=[1.917, -0.007, 2.068] + !! OVERLAP: wardrobe <-> floor depth=[1.255, -0.007, 0.594] + !! OVERLAP: tv_stand <-> floor depth=[1.662, -0.007, 0.383] + !! OVERLAP: table <-> floor depth=[0.515, -0.007, 0.381] + !! OVERLAP: table <-> floor depth=[0.564, -0.007, 0.296] +============================================================ + + +============================================================ +SCENE: Bedroom-15797 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0347, Walkable Loss: 1.9615 (Center Penalty: 1.3043, C1 Heatmap: 0.3624, C2 Repulsion: 1.8362), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.272 1.351 1.253 0.699 0.011 -1.084 -89.89° +cabinet 1.182 0.917 0.308 0.432 -0.002 1.678 -179.81° +nightstand 0.580 0.759 0.494 1.103 0.000 -1.418 -89.86° +nightstand 0.520 0.743 0.533 1.069 0.000 0.974 -89.94° +lamp 0.494 0.278 0.371 0.269 2.283 -0.775 -0.06° +floor 2.828 -0.003 3.762 -0.043 0.002 -0.061 -0.02° +_scene_ 0.065 -0.000 0.017 -5.672 -0.005 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.522, 0.759, 0.494] + !! OVERLAP: bed <-> floor depth=[1.272, -0.003, 1.253] + !! OVERLAP: cabinet <-> floor depth=[1.182, -0.003, 0.296] + !! OVERLAP: nightstand <-> floor depth=[0.557, -0.003, 0.494] + !! OVERLAP: nightstand <-> floor depth=[0.520, -0.003, 0.533] +============================================================ + + +============================================================ +SCENE: MasterBedroom-13658 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0091, Walkable Loss: 1.7114 (Center Penalty: 1.2304, C1 Heatmap: 0.4009, C2 Repulsion: 0.8017), Relational Loss: 0.0373 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.376 2.285 0.487 -0.180 -0.002 -2.050 0.07° +bed 0.775 0.797 1.247 -1.099 -0.041 0.534 91.07° +nightstand 0.435 0.489 0.341 -1.408 0.000 -0.867 90.08° +nightstand 0.390 0.512 0.328 -1.358 0.002 1.609 90.02° +lamp 0.706 0.318 0.798 -0.270 2.129 0.892 0.05° +floor 3.311 -0.000 4.540 -0.016 -0.000 -0.014 -0.08° +_scene_ 0.069 -0.002 0.019 -5.668 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.376, -0.000, 0.478] + !! OVERLAP: bed <-> floor depth=[0.775, -0.000, 1.247] + !! OVERLAP: nightstand <-> floor depth=[0.435, -0.000, 0.341] + !! OVERLAP: nightstand <-> floor depth=[0.390, -0.000, 0.328] +============================================================ + + +============================================================ +SCENE: Bedroom-53437 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0831, Walkable Loss: 2.1764 (Center Penalty: 1.4561, C1 Heatmap: 0.3026, C2 Repulsion: 2.3911), Relational Loss: 0.0550 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.132 1.056 0.921 0.068 -0.005 0.828 179.62° +lamp 0.425 0.230 0.332 0.800 2.408 0.465 0.04° +wardrobe 1.510 2.345 0.448 -1.279 0.002 0.643 90.11° +nightstand 0.414 0.615 0.261 -0.925 0.003 1.209 180.00° +nightstand 0.443 0.608 0.340 1.511 0.001 1.155 179.98° +floor 3.860 -0.001 2.798 -0.021 -0.000 -0.031 -0.04° +_scene_ 0.067 -0.001 0.016 -5.680 -0.007 -5.728 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.132, -0.001, 0.921] + !! OVERLAP: wardrobe <-> floor depth=[1.427, -0.001, 0.448] + !! OVERLAP: nightstand <-> floor depth=[0.414, -0.001, 0.261] + !! OVERLAP: nightstand <-> floor depth=[0.443, -0.001, 0.340] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1096 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2167, Walkable Loss: 1.1387 (Center Penalty: 0.5261, C1 Heatmap: 0.3063, C2 Repulsion: 1.8380), Relational Loss: 0.0037 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.924 0.875 0.958 0.372 0.012 -1.503 0.14° +table 1.004 1.146 0.191 0.385 0.001 -1.493 0.08° +wardrobe 1.767 2.195 0.195 -1.262 0.006 0.102 90.03° +lamp 0.466 0.429 0.458 0.483 2.393 -0.775 0.27° +chair 0.367 0.671 0.334 -0.806 -0.005 -0.850 -150.97° +bookshelf 0.423 1.571 0.154 0.878 0.001 0.604 -179.73° +floor 3.108 0.025 2.941 -0.564 0.014 -0.880 0.18° +_scene_ 0.068 0.000 0.022 -5.670 -0.005 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.924, 0.875, 0.191] + !! OVERLAP: bed <-> floor depth=[0.924, 0.025, 0.958] + !! OVERLAP: table <-> floor depth=[1.004, 0.025, 0.191] + !! OVERLAP: wardrobe <-> floor depth=[1.740, 0.025, 0.195] + !! OVERLAP: chair <-> floor depth=[0.367, 0.025, 0.334] + !! OVERLAP: bookshelf <-> floor depth=[0.324, 0.025, 0.063] +============================================================ + + +============================================================ +SCENE: Bedroom-20397 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0217, Walkable Loss: 2.4845 (Center Penalty: 1.4701, C1 Heatmap: 0.3857, C2 Repulsion: 3.5291), Relational Loss: 0.0269 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.492 2.360 -0.120 -1.586 0.036 0.448 89.77° +bed 1.162 0.693 0.815 0.434 -0.020 1.049 -179.46° +nightstand 0.470 0.728 0.387 1.735 0.001 1.467 179.95° +nightstand 0.441 0.859 0.307 -1.094 0.002 1.539 179.92° +cabinet 1.435 0.897 0.314 0.174 0.001 -1.378 -0.03° +table 0.331 1.628 0.276 1.985 -0.012 -1.037 -63.99° +lamp 0.125 0.856 0.230 -1.401 1.271 1.348 0.28° +lamp 0.632 0.901 0.585 1.747 1.141 1.142 -0.19° +lamp 0.573 0.120 0.566 0.690 2.398 -0.087 -0.64° +floor 4.710 -0.003 3.538 0.044 0.000 -0.065 -0.02° +_scene_ 0.070 0.000 0.021 -5.671 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.471, -0.003, -0.120] + !! OVERLAP: bed <-> floor depth=[1.162, -0.003, 0.815] + !! OVERLAP: nightstand <-> floor depth=[0.470, -0.003, 0.387] + !! OVERLAP: nightstand <-> floor depth=[0.441, -0.003, 0.307] + !! OVERLAP: cabinet <-> floor depth=[1.435, -0.003, 0.314] + !! OVERLAP: table <-> floor depth=[0.331, -0.003, 0.276] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6261 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8838 (Center Penalty: 0.6409, C1 Heatmap: 0.0993, C2 Repulsion: 0.8172), Relational Loss: 0.0337 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.241 0.525 -0.430 0.333 -0.003 0.849 -90.74° +lamp 0.972 0.639 0.723 -0.026 2.008 0.994 0.04° +bed 0.585 1.078 0.991 0.457 -0.029 1.365 -91.50° +wardrobe 1.275 2.506 -0.310 -0.565 0.025 0.669 1.58° +floor 3.022 0.015 4.177 -0.540 0.029 0.980 -0.46° +_scene_ 0.077 -0.000 0.024 -5.667 -0.004 -5.710 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.241, 0.015, -0.430] + !! OVERLAP: bed <-> floor depth=[0.585, 0.015, 0.991] + !! OVERLAP: wardrobe <-> floor depth=[1.275, 0.015, -0.310] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9923 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2075, Walkable Loss: 0.9688 (Center Penalty: 0.5282, C1 Heatmap: 0.4482, C2 Repulsion: 0.4105), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.981 0.839 1.557 0.910 0.018 -1.080 -1.45° +tv_stand 1.718 0.502 0.238 0.800 0.006 0.977 179.88° +wardrobe 1.581 2.417 0.363 -1.108 -0.001 -0.687 90.30° +lamp 0.330 0.775 0.337 0.664 1.799 -0.701 -0.08° +floor 3.693 0.021 3.595 0.062 -0.003 -0.795 -0.10° +_scene_ 0.070 0.003 0.024 -5.669 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.981, 0.021, 1.557] + !! OVERLAP: tv_stand <-> floor depth=[1.718, 0.021, 0.144] + !! OVERLAP: wardrobe <-> floor depth=[1.468, 0.021, 0.363] +============================================================ + + +============================================================ +SCENE: Bedroom-38427 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9504 (Center Penalty: 1.4181, C1 Heatmap: 0.3565, C2 Repulsion: 1.2351), Relational Loss: 0.0043 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.942 0.932 0.819 -0.482 2.270 -0.535 0.17° +wardrobe 1.067 1.607 0.292 0.422 0.006 1.401 -179.79° +bed 1.397 0.948 1.313 0.673 -0.018 -1.025 -0.75° +nightstand 0.480 0.458 0.370 -1.210 0.002 -1.591 -0.01° +nightstand 0.488 0.498 0.395 0.988 0.001 -1.605 0.00° +floor 3.107 -0.002 3.722 -0.001 0.001 -0.019 -0.01° +_scene_ 0.068 0.000 0.019 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.067, -0.002, 0.292] + !! OVERLAP: bed <-> nightstand depth=[0.488, 0.498, 0.275] + !! OVERLAP: bed <-> floor depth=[1.397, -0.002, 1.313] + !! OVERLAP: nightstand <-> floor depth=[0.480, -0.002, 0.370] + !! OVERLAP: nightstand <-> floor depth=[0.488, -0.002, 0.395] +============================================================ + + +============================================================ +SCENE: SecondBedroom-48379 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0324, Walkable Loss: 0.9606 (Center Penalty: 0.6006, C1 Heatmap: 0.3292, C2 Repulsion: 0.4834), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.622 1.945 1.433 -0.615 -0.026 -0.880 -90.69° +wardrobe 0.849 1.638 0.412 0.658 0.010 -1.880 -0.01° +lamp 0.579 0.279 0.461 -0.366 2.470 -0.764 0.18° +desk 1.369 0.790 0.658 0.903 0.001 0.708 -89.51° +floor 2.790 0.025 4.004 0.160 -0.017 -0.895 0.41° +_scene_ 0.077 -0.001 0.021 -5.670 -0.004 -5.706 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.622, 0.025, 1.433] + !! OVERLAP: wardrobe <-> floor depth=[0.849, 0.025, 0.412] + !! OVERLAP: desk <-> floor depth=[1.336, 0.025, 0.658] +============================================================ + + +============================================================ +SCENE: Bedroom-74674 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7781 (Center Penalty: 1.4165, C1 Heatmap: 0.2020, C2 Repulsion: 1.0000), Relational Loss: 0.0098 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.016 1.270 1.071 0.928 0.003 -0.486 -90.93° +table 0.629 0.708 0.625 1.137 -0.000 -1.077 -89.94° +lamp 0.578 0.497 0.339 0.598 2.095 -0.487 -0.14° +floor 3.067 -0.004 4.119 -0.036 0.001 -0.041 -0.02° +_scene_ 0.048 0.009 0.012 -5.611 -0.004 -5.679 -57.44° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.614, 0.708, 0.258] + !! OVERLAP: bed <-> floor depth=[1.016, -0.004, 1.071] + !! OVERLAP: table <-> floor depth=[0.629, -0.004, 0.625] +============================================================ + + +============================================================ +SCENE: MasterBedroom-41843 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0405, Walkable Loss: 1.2814 (Center Penalty: 0.3277, C1 Heatmap: 0.4536, C2 Repulsion: 2.9538), Relational Loss: 0.0161 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.622 0.775 0.593 -0.205 1.989 1.015 -0.02° +wardrobe 0.961 2.139 0.263 0.665 0.003 -1.448 -0.04° +wardrobe 1.110 2.079 0.399 0.908 0.003 -1.276 0.19° +bed 1.081 1.427 1.560 0.731 0.035 0.957 -89.96° +nightstand 0.317 0.567 0.369 1.419 0.005 -0.607 -90.12° +nightstand 0.383 0.572 0.365 1.242 -0.001 1.938 -90.42° +cabinet 0.857 0.749 0.310 -1.511 0.001 0.904 90.03° +chair 0.382 0.803 0.052 -1.266 0.025 -1.427 37.82° +table 0.290 0.416 0.320 -1.074 0.001 -0.856 6.36° +floor 3.604 -0.023 5.306 -0.266 -0.006 1.021 -0.24° +_scene_ 0.069 0.000 0.021 -5.670 -0.005 -5.716 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> wardrobe depth=[0.792, 2.079, 0.159] + !! OVERLAP: wardrobe <-> floor depth=[0.961, -0.023, 0.263] + !! OVERLAP: wardrobe <-> floor depth=[1.110, -0.023, 0.399] + !! OVERLAP: bed <-> floor depth=[1.081, -0.023, 1.560] + !! OVERLAP: nightstand <-> floor depth=[0.276, -0.023, 0.369] + !! OVERLAP: nightstand <-> floor depth=[0.383, -0.023, 0.365] + !! OVERLAP: cabinet <-> floor depth=[0.857, -0.023, 0.310] + !! OVERLAP: chair <-> floor depth=[0.382, -0.023, 0.052] + !! OVERLAP: table <-> floor depth=[0.290, -0.023, 0.320] +============================================================ + + +============================================================ +SCENE: MasterBedroom-21047 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0710, Walkable Loss: 0.9231 (Center Penalty: 0.4902, C1 Heatmap: 0.1719, C2 Repulsion: 1.4770), Relational Loss: 0.0347 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.795 2.332 0.273 0.689 0.016 -0.958 -90.34° +bed 0.576 1.183 0.932 -0.889 0.035 -0.791 1.46° +nightstand 0.520 0.611 0.437 -1.869 -0.001 -1.240 0.01° +nightstand 0.501 0.631 0.390 0.338 0.002 -1.369 0.07° +lamp 0.710 1.099 0.668 -0.910 1.645 0.203 -0.11° +floor 3.888 0.001 3.290 -0.928 -0.005 -0.097 0.29° +_scene_ 0.070 0.001 0.007 -5.661 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.724, 0.001, 0.273] + !! OVERLAP: bed <-> floor depth=[0.576, 0.001, 0.932] + !! OVERLAP: nightstand <-> floor depth=[0.520, 0.001, 0.437] + !! OVERLAP: nightstand <-> floor depth=[0.501, 0.001, 0.390] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34469 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0497, Walkable Loss: 1.2616 (Center Penalty: 0.6670, C1 Heatmap: 0.5630, C2 Repulsion: 0.7213), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.680 0.879 1.858 -0.949 -0.003 -0.812 0.11° +wardrobe 1.157 2.376 0.561 1.001 0.001 -0.883 -90.34° +table 0.948 1.119 0.517 -1.577 0.004 1.512 179.90° +lamp 0.755 0.607 0.256 -0.549 2.287 -0.502 -0.07° +floor 4.381 0.002 4.463 -0.660 -0.006 0.480 0.36° +_scene_ 0.076 -0.001 0.019 -5.673 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.680, 0.002, 1.858] + !! OVERLAP: wardrobe <-> floor depth=[1.108, 0.002, 0.561] + !! OVERLAP: table <-> floor depth=[0.948, 0.002, 0.517] +============================================================ + + +============================================================ +SCENE: SecondBedroom-35274 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8137 (Center Penalty: 0.5256, C1 Heatmap: 0.3351, C2 Repulsion: 0.1003), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.430 1.009 0.366 0.404 1.536 0.669 -0.19° +bed 1.541 0.990 1.395 0.534 -0.030 1.043 -89.35° +wardrobe 1.158 2.013 0.129 0.491 0.007 -1.364 -0.41° +floor 2.836 -0.012 4.390 0.634 0.005 0.734 0.90° +_scene_ 0.064 -0.002 0.008 -5.659 -0.005 -5.716 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.541, -0.012, 1.395] + !! OVERLAP: wardrobe <-> floor depth=[1.158, -0.012, 0.129] +============================================================ + + +============================================================ +SCENE: SecondBedroom-66007 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1850 (Center Penalty: 1.5144, C1 Heatmap: 0.3195, C2 Repulsion: 2.0752), Relational Loss: 0.0510 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.174 1.071 1.427 -0.789 -0.013 0.150 -178.88° +nightstand 0.267 0.481 0.181 -1.182 0.001 1.156 179.91° +desk 0.970 1.006 0.378 1.390 0.002 1.076 -179.98° +chair 0.298 0.747 0.328 1.424 -0.001 0.304 -20.50° +wardrobe 0.728 2.079 -0.075 -1.473 -0.001 0.609 88.84° +lamp 0.651 0.227 0.601 -0.437 2.335 -0.764 0.03° +floor 3.917 -0.000 2.619 -0.009 -0.000 0.001 -0.03° +_scene_ 0.071 -0.001 0.024 -5.670 -0.004 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> wardrobe depth=[0.266, 1.071, -0.075] + !! OVERLAP: bed <-> floor depth=[1.174, -0.000, 1.427] + !! OVERLAP: nightstand <-> floor depth=[0.267, -0.000, 0.181] + !! OVERLAP: desk <-> floor depth=[0.970, -0.000, 0.378] + !! OVERLAP: chair <-> floor depth=[0.298, -0.000, 0.328] + !! OVERLAP: wardrobe <-> floor depth=[0.728, -0.000, -0.075] +============================================================ + + +============================================================ +SCENE: MasterBedroom-6907 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0498, Walkable Loss: 1.0580 (Center Penalty: 0.3222, C1 Heatmap: 0.4372, C2 Repulsion: 1.9301), Relational Loss: 0.0267 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.485 1.314 0.471 1.013 0.002 -0.783 -89.59° +table 0.599 1.180 0.433 0.996 -0.012 1.271 -89.76° +nightstand 0.477 0.586 0.324 -1.822 0.001 -1.586 90.05° +chair 1.176 0.430 0.382 -1.024 -0.003 -0.268 90.13° +bed 0.909 1.338 1.646 -1.405 0.023 -0.150 90.27° +nightstand 0.553 0.687 0.403 -2.034 0.002 1.304 90.01° +chair 0.471 0.788 0.473 -0.319 -0.000 1.327 90.02° +floor 4.204 0.011 4.264 -0.851 0.002 -0.541 0.72° +_scene_ 0.069 0.001 0.025 -5.671 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.480, 0.011, 0.471] + !! OVERLAP: table <-> floor depth=[0.554, 0.011, 0.433] + !! OVERLAP: nightstand <-> floor depth=[0.477, 0.011, 0.324] + !! OVERLAP: chair <-> bed depth=[0.662, 0.430, 0.382] + !! OVERLAP: chair <-> floor depth=[1.176, 0.011, 0.382] + !! OVERLAP: bed <-> floor depth=[0.909, 0.011, 1.646] + !! OVERLAP: nightstand <-> floor depth=[0.553, 0.011, 0.403] + !! OVERLAP: chair <-> floor depth=[0.471, 0.011, 0.473] +============================================================ + + +============================================================ +SCENE: MasterBedroom-9302 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2130, Walkable Loss: 1.0519 (Center Penalty: 0.4925, C1 Heatmap: 0.3439, C2 Repulsion: 1.4214), Relational Loss: 0.0077 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.313 1.270 1.285 -0.820 -0.004 0.770 179.70° +nightstand 0.237 0.568 0.257 1.310 0.007 1.292 179.99° +nightstand 0.370 0.618 0.275 -1.467 0.010 1.324 -179.93° +table 0.712 1.076 0.428 0.963 0.004 -1.402 0.01° +chair 0.619 0.475 0.583 -0.474 -0.003 -0.853 179.81° +floor 3.804 0.035 4.002 -0.635 0.001 -0.521 0.33° +_scene_ 0.068 0.003 0.025 -5.668 -0.004 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.195, 0.618, 0.225] + !! OVERLAP: bed <-> floor depth=[1.313, 0.035, 1.285] + !! OVERLAP: nightstand <-> floor depth=[0.076, 0.035, 0.257] + !! OVERLAP: nightstand <-> floor depth=[0.370, 0.035, 0.275] + !! OVERLAP: table <-> floor depth=[0.660, 0.035, 0.428] + !! OVERLAP: chair <-> floor depth=[0.619, 0.035, 0.583] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3151 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9302 (Center Penalty: 0.7335, C1 Heatmap: 0.1563, C2 Repulsion: 0.3587), Relational Loss: 0.0329 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.702 1.182 1.404 1.387 0.006 0.072 -89.58° +nightstand 0.301 0.453 0.264 1.198 -0.003 -0.919 -90.21° +lamp 0.615 0.965 0.637 0.357 1.848 0.538 0.14° +floor 3.130 -0.010 3.884 0.342 -0.008 0.736 0.67° +_scene_ 0.075 0.000 0.024 -5.667 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.702, -0.010, 1.404] + !! OVERLAP: nightstand <-> floor depth=[0.301, -0.010, 0.264] +============================================================ + + +============================================================ +SCENE: SecondBedroom-13281 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0133, Walkable Loss: 1.3484 (Center Penalty: 0.7154, C1 Heatmap: 0.3940, C2 Repulsion: 1.5889), Relational Loss: 0.0474 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.025 1.413 1.153 0.147 0.107 1.355 179.57° +wardrobe 2.075 2.364 0.383 1.091 -0.005 -0.898 0.04° +nightstand 0.470 0.519 0.365 1.653 0.001 1.758 179.93° +nightstand 0.380 0.520 0.311 -1.048 0.003 1.591 179.99° +lamp 0.306 1.024 0.305 -1.461 1.472 1.516 90.13° +lamp 0.639 0.682 0.672 1.606 1.654 1.614 0.06° +lamp 0.734 0.950 0.824 0.039 1.775 0.889 -0.43° +floor 3.825 -0.007 3.556 0.203 -0.003 0.583 0.05° +_scene_ 0.069 0.000 0.023 -5.672 -0.005 -5.718 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.025, -0.007, 1.153] + !! OVERLAP: wardrobe <-> floor depth=[2.062, -0.007, 0.383] + !! OVERLAP: nightstand <-> floor depth=[0.470, -0.007, 0.365] + !! OVERLAP: nightstand <-> floor depth=[0.380, -0.007, 0.311] +============================================================ + + +============================================================ +SCENE: MasterBedroom-74105 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0669, Walkable Loss: 2.1244 (Center Penalty: 1.3657, C1 Heatmap: 0.4104, C2 Repulsion: 2.1518), Relational Loss: 0.0175 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.309 0.502 0.252 1.263 -0.003 0.801 -89.99° +nightstand 0.504 0.569 0.513 1.213 0.001 -1.302 -90.08° +bed 0.913 0.948 1.492 0.917 0.005 -0.735 -92.28° +bookshelf 0.925 1.727 0.294 -1.097 -0.001 -1.039 90.03° +wardrobe 1.555 2.401 0.409 0.515 -0.001 1.216 -179.92° +lamp 0.855 0.871 0.708 -0.289 1.690 -0.782 -0.08° +floor 2.983 -0.000 3.588 -0.001 -0.000 0.012 -0.01° +_scene_ 0.070 0.001 0.020 -5.673 -0.004 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> floor depth=[0.309, -0.000, 0.252] + !! OVERLAP: nightstand <-> bed depth=[0.412, 0.569, 0.436] + !! OVERLAP: nightstand <-> floor depth=[0.504, -0.000, 0.513] + !! OVERLAP: bed <-> floor depth=[0.913, -0.000, 1.492] + !! OVERLAP: bookshelf <-> floor depth=[0.858, -0.000, 0.294] + !! OVERLAP: wardrobe <-> floor depth=[1.555, -0.000, 0.409] +============================================================ + + +============================================================ +SCENE: Bedroom-837 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8638 (Center Penalty: 1.2416, C1 Heatmap: 0.4321, C2 Repulsion: 1.3826), Relational Loss: 0.0047 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.427 0.653 1.240 0.994 -0.020 -0.654 -90.77° +wardrobe 1.861 2.197 0.440 -0.920 -0.004 -0.983 90.57° +nightstand 0.531 0.423 0.368 1.454 -0.001 -1.040 0.02° +lamp 0.375 0.091 0.462 0.966 2.438 -0.001 -89.48° +floor 3.746 0.000 2.773 -0.001 -0.000 -0.013 -0.02° +_scene_ 0.067 0.001 0.016 -5.670 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.519, 0.423, 0.368] + !! OVERLAP: bed <-> floor depth=[1.427, 0.000, 1.240] + !! OVERLAP: wardrobe <-> floor depth=[1.861, 0.000, 0.440] + !! OVERLAP: nightstand <-> floor depth=[0.531, 0.000, 0.368] +============================================================ + + +============================================================ +SCENE: SecondBedroom-24075 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3063 (Center Penalty: 1.6970, C1 Heatmap: 0.4173, C2 Repulsion: 1.3772), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.653 1.571 1.743 0.444 0.009 0.691 179.65° +nightstand 0.366 0.468 0.289 -1.178 0.001 1.358 179.90° +nightstand 0.444 0.622 0.361 1.251 0.003 1.266 179.99° +lamp 0.551 0.683 0.509 0.641 2.102 0.078 0.06° +floor 3.557 -0.003 3.142 -0.003 0.001 0.007 -0.01° +_scene_ 0.066 0.001 0.014 -5.668 -0.004 -5.708 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.242, 0.622, 0.361] + !! OVERLAP: bed <-> floor depth=[1.653, -0.003, 1.743] + !! OVERLAP: nightstand <-> floor depth=[0.366, -0.003, 0.289] + !! OVERLAP: nightstand <-> floor depth=[0.444, -0.003, 0.361] +============================================================ + + +============================================================ +SCENE: Bedroom-22570 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0559, Walkable Loss: 0.8501 (Center Penalty: 0.4782, C1 Heatmap: 0.3377, C2 Repulsion: 0.5091), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.653 0.967 1.034 1.138 0.062 -0.515 -178.11° +nightstand 0.229 0.439 0.153 -1.155 0.010 0.717 179.64° +nightstand 0.391 0.568 0.098 1.388 0.016 0.813 -179.99° +lamp 0.517 0.639 0.542 0.910 1.978 -0.012 -0.26° +wardrobe 2.373 2.313 0.460 -1.234 -0.020 -1.178 90.25° +floor 4.163 0.008 3.165 -0.421 0.021 -0.777 0.23° +_scene_ 0.065 -0.001 0.018 -5.677 -0.006 -5.718 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.653, 0.008, 1.034] + !! OVERLAP: nightstand <-> floor depth=[0.229, 0.008, 0.153] + !! OVERLAP: nightstand <-> floor depth=[0.391, 0.008, 0.042] + !! OVERLAP: wardrobe <-> floor depth=[2.373, 0.008, 0.460] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40255 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0056, Walkable Loss: 1.0856 (Center Penalty: 0.7911, C1 Heatmap: 0.2089, C2 Repulsion: 0.6364), Relational Loss: 0.0294 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.861 2.127 0.367 1.286 -0.003 -2.084 0.01° +wardrobe 0.551 2.258 0.659 -0.276 0.010 -1.440 0.76° +bed 0.248 0.986 1.296 -0.174 0.009 1.105 91.18° +nightstand 0.280 0.538 0.448 -0.818 -0.008 1.722 89.90° +nightstand 0.276 0.479 0.454 -0.823 -0.021 0.056 89.90° +lamp 0.545 0.744 0.471 -0.087 1.821 0.891 -0.04° +floor 3.498 -0.016 4.876 0.793 -0.012 -0.300 0.10° +_scene_ 0.067 0.001 0.023 -5.676 -0.005 -5.715 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[0.861, -0.016, 0.367] + !! OVERLAP: wardrobe <-> floor depth=[0.551, -0.016, 0.659] + !! OVERLAP: bed <-> floor depth=[0.248, -0.016, 1.296] + !! OVERLAP: nightstand <-> floor depth=[0.279, -0.016, 0.448] + !! OVERLAP: nightstand <-> floor depth=[0.272, -0.016, 0.454] +============================================================ + + +============================================================ +SCENE: SecondBedroom-9594 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1769, Walkable Loss: 1.4147 (Center Penalty: 0.6988, C1 Heatmap: 0.3461, C2 Repulsion: 2.1951), Relational Loss: 0.0064 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.270 0.712 0.150 -0.998 0.002 -1.625 92.05° +bed 1.152 1.059 1.415 0.951 -0.021 -1.273 -89.80° +wardrobe 1.165 1.905 0.164 -0.388 -0.047 -0.450 -178.65° +nightstand 0.960 0.734 0.315 1.520 0.001 0.133 -89.89° +chair 0.298 0.974 0.383 -0.855 -0.000 -1.134 -90.09° +lamp 0.694 0.015 0.896 0.182 2.531 -0.929 0.10° +floor 3.289 -0.186 3.404 0.414 -0.046 -1.589 2.57° +_scene_ 0.075 0.000 0.023 -5.670 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.270, -0.186, 0.150] + !! OVERLAP: bed <-> floor depth=[1.152, -0.186, 1.415] + !! OVERLAP: wardrobe <-> floor depth=[1.165, -0.186, 0.164] + !! OVERLAP: nightstand <-> floor depth=[0.960, -0.186, 0.138] + !! OVERLAP: chair <-> floor depth=[0.298, -0.186, 0.383] +============================================================ + + +============================================================ +SCENE: MasterBedroom-18517 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0317, Walkable Loss: 1.1719 (Center Penalty: 0.3843, C1 Heatmap: 0.3033, C2 Repulsion: 2.7248), Relational Loss: 0.0153 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.782 1.053 1.076 -0.308 0.010 0.960 -179.49° +nightstand 0.492 0.717 0.417 0.783 0.002 1.261 179.97° +nightstand 0.558 0.679 0.386 -1.370 0.001 1.253 179.96° +wardrobe 1.816 2.614 0.223 -2.071 -0.012 0.407 90.06° +chair -0.044 0.652 0.437 0.872 -0.013 -1.433 -30.28° +table 0.204 0.458 0.146 0.880 -0.002 -0.747 -0.06° +cabinet -0.010 1.301 0.099 1.010 -0.030 1.109 -89.73° +lamp 0.767 1.082 0.765 -0.281 1.784 -1.055 0.38° +lamp 0.285 1.011 0.271 -1.250 1.784 1.139 0.03° +lamp 0.050 0.732 0.105 0.836 1.772 0.916 -0.40° +floor 4.939 -0.084 3.286 -1.456 -0.005 0.008 0.07° +_scene_ 0.075 -0.000 0.023 -5.669 -0.004 -5.713 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.782, -0.084, 1.076] + !! OVERLAP: nightstand <-> cabinet depth=[-0.010, 0.717, 0.099] + !! OVERLAP: nightstand <-> floor depth=[0.476, -0.084, 0.417] + !! OVERLAP: nightstand <-> floor depth=[0.558, -0.084, 0.386] + !! OVERLAP: wardrobe <-> floor depth=[1.816, -0.084, 0.223] + !! OVERLAP: chair <-> floor depth=[-0.044, -0.084, 0.421] + !! OVERLAP: table <-> floor depth=[0.204, -0.084, 0.146] +============================================================ + + +============================================================ +SCENE: MasterBedroom-116808 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3675 (Center Penalty: 1.6590, C1 Heatmap: 0.5786, C2 Repulsion: 1.2281), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.335 1.103 2.041 0.391 0.002 0.467 89.65° +nightstand 0.491 0.685 0.367 -0.998 -0.001 1.351 89.98° +lamp 1.538 0.970 0.523 0.255 1.580 0.967 -0.00° +wardrobe 1.959 2.378 0.418 -0.154 0.001 -1.226 0.14° +floor 2.661 0.001 3.157 0.032 0.001 -0.015 -0.03° +_scene_ 0.070 0.001 0.021 -5.670 -0.004 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.335, 0.001, 2.041] + !! OVERLAP: nightstand <-> floor depth=[0.491, 0.001, 0.367] + !! OVERLAP: wardrobe <-> floor depth=[1.959, 0.001, 0.418] +============================================================ + + +============================================================ +SCENE: MasterBedroom-34912 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1881 (Center Penalty: 0.6648, C1 Heatmap: 0.2713, C2 Repulsion: 1.5310), Relational Loss: 0.0266 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.476 1.118 0.087 -2.389 -0.008 -0.759 0.17° +nightstand 0.194 0.672 -0.119 -0.802 -0.031 -0.754 5.21° +chair 0.420 0.503 0.369 -1.913 0.004 -0.496 -89.90° +bed 1.181 1.446 0.476 -1.419 0.044 0.408 -0.56° +cabinet 0.680 0.863 0.390 -2.077 0.001 1.450 179.98° +lamp 0.734 0.852 0.667 -1.134 2.008 0.091 -0.13° +wardrobe 1.748 2.298 0.193 0.481 0.011 -0.545 -89.63° +floor 5.441 -0.021 2.796 -0.791 -0.002 0.594 -0.02° +_scene_ 0.069 0.000 0.021 -5.671 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.476, -0.021, 0.087] + !! OVERLAP: chair <-> floor depth=[0.420, -0.021, 0.369] + !! OVERLAP: bed <-> floor depth=[1.181, -0.021, 0.476] + !! OVERLAP: cabinet <-> floor depth=[0.680, -0.021, 0.390] + !! OVERLAP: wardrobe <-> floor depth=[1.748, -0.021, 0.193] +============================================================ + + +============================================================ +SCENE: SecondBedroom-3960 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0098, Walkable Loss: 1.3685 (Center Penalty: 1.1060, C1 Heatmap: 0.1950, C2 Repulsion: 0.5327), Relational Loss: 0.0572 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.783 1.763 1.048 -1.033 0.045 -0.294 90.62° +nightstand 0.438 0.451 0.282 -1.275 0.002 0.866 90.03° +nightstand 0.473 0.500 0.332 -1.324 0.001 -1.418 90.07° +wardrobe 0.815 2.003 0.315 0.053 0.004 1.788 -179.74° +floor 3.079 -0.003 3.896 -0.046 0.000 -0.013 -0.00° +_scene_ 0.066 -0.005 0.023 -5.680 -0.005 -5.700 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.783, -0.003, 1.048] + !! OVERLAP: nightstand <-> floor depth=[0.438, -0.003, 0.282] + !! OVERLAP: nightstand <-> floor depth=[0.473, -0.003, 0.332] + !! OVERLAP: wardrobe <-> floor depth=[0.815, -0.003, 0.305] +============================================================ + + +============================================================ +SCENE: MasterBedroom-17206 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1786, Walkable Loss: 1.2038 (Center Penalty: 0.5103, C1 Heatmap: 0.3792, C2 Repulsion: 1.9510), Relational Loss: 0.0222 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.820 1.608 1.314 1.178 -0.062 0.560 -91.77° +nightstand 0.356 0.593 0.375 1.310 -0.001 1.577 -90.31° +wardrobe 1.217 2.201 0.217 0.493 -0.002 -1.229 0.90° +chair 0.385 0.540 0.416 -0.858 0.002 2.039 179.72° +table 0.432 1.160 0.319 -1.320 0.011 1.427 89.95° +nightstand 0.321 0.572 0.304 1.387 0.006 -0.730 -90.11° +lamp 0.560 1.029 0.607 -0.206 1.790 0.907 -0.22° +tv_stand 1.319 0.504 0.365 -1.054 -0.015 0.310 89.79° +floor 3.362 -0.006 5.128 0.146 -0.000 0.926 -0.13° +_scene_ 0.071 0.000 0.022 -5.669 -0.005 -5.714 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.820, -0.006, 1.314] + !! OVERLAP: nightstand <-> floor depth=[0.356, -0.006, 0.375] + !! OVERLAP: wardrobe <-> floor depth=[1.217, -0.006, 0.217] + !! OVERLAP: chair <-> floor depth=[0.385, -0.006, 0.416] + !! OVERLAP: table <-> floor depth=[0.431, -0.006, 0.319] + !! OVERLAP: nightstand <-> floor depth=[0.321, -0.006, 0.304] + !! OVERLAP: tv_stand <-> floor depth=[1.140, -0.006, 0.365] +============================================================ + + +============================================================ +SCENE: MasterBedroom-109561 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0849, Walkable Loss: 1.4902 (Center Penalty: 0.7141, C1 Heatmap: 0.4655, C2 Repulsion: 2.0186), Relational Loss: 0.0241 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.962 0.915 1.467 -1.164 -0.004 -0.356 -0.67° +lamp 0.802 0.851 0.764 -0.667 1.878 0.269 -0.07° +tv_stand 1.819 0.492 0.359 -0.330 0.002 1.843 179.95° +chair 0.452 0.748 0.435 -1.490 0.002 1.225 -0.31° +nightstand 0.351 0.864 0.243 -1.467 -0.007 -1.046 -0.38° +wardrobe 1.091 2.351 0.505 0.968 -0.002 -0.173 -90.32° +floor 3.646 0.014 4.010 -0.336 -0.013 0.896 -0.26° +_scene_ 0.071 0.000 0.028 -5.675 -0.005 -5.720 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.351, 0.864, 0.166] + !! OVERLAP: bed <-> floor depth=[0.962, 0.014, 1.467] + !! OVERLAP: tv_stand <-> floor depth=[1.819, 0.014, 0.359] + !! OVERLAP: chair <-> floor depth=[0.452, 0.014, 0.435] + !! OVERLAP: nightstand <-> floor depth=[0.351, 0.014, 0.185] + !! OVERLAP: wardrobe <-> floor depth=[1.063, 0.014, 0.505] +============================================================ + + +============================================================ +SCENE: SecondBedroom-30334 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0721, Walkable Loss: 1.9497 (Center Penalty: 1.0218, C1 Heatmap: 0.4780, C2 Repulsion: 2.7276), Relational Loss: 0.0186 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.845 0.862 1.308 0.799 -0.033 -0.419 -179.46° +wardrobe 1.282 2.304 0.479 2.651 0.018 -0.306 -90.16° +wardrobe 1.655 2.288 0.210 2.307 -0.001 0.357 -90.42° +nightstand 0.449 0.608 0.355 1.286 0.003 1.257 179.94° +nightstand 0.493 0.665 0.369 -1.543 0.002 1.342 179.92° +chair 0.414 1.087 0.872 -1.669 0.027 0.119 64.13° +table 0.607 0.540 0.562 -1.621 -0.001 -0.614 0.01° +lamp 0.348 0.796 0.113 -1.730 1.555 -0.157 -89.72° +lamp 0.923 0.958 0.379 0.067 2.057 -0.718 -0.20° +floor 5.324 0.002 2.659 0.602 -0.001 0.153 0.20° +_scene_ 0.072 -0.000 0.020 -5.668 -0.003 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.845, 0.002, 1.308] + !! OVERLAP: wardrobe <-> floor depth=[1.254, 0.002, 0.479] + !! OVERLAP: wardrobe <-> floor depth=[1.655, 0.002, 0.210] + !! OVERLAP: nightstand <-> floor depth=[0.449, 0.002, 0.355] + !! OVERLAP: nightstand <-> floor depth=[0.493, 0.002, 0.325] + !! OVERLAP: chair <-> floor depth=[0.414, 0.002, 0.872] + !! OVERLAP: table <-> floor depth=[0.607, 0.002, 0.562] +============================================================ + + +============================================================ +SCENE: Bedroom-54233 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1822, Walkable Loss: 0.9050 (Center Penalty: 0.5805, C1 Heatmap: 0.2840, C2 Repulsion: 0.4864), Relational Loss: 0.0002 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 0.877 1.475 0.056 0.541 0.003 -1.957 -0.11° +bed 0.606 0.998 1.489 0.962 0.034 0.131 -89.62° +nightstand 0.346 0.426 0.314 1.215 -0.001 -1.130 -90.35° +nightstand 0.342 0.432 0.368 1.215 -0.001 1.542 -90.28° +table 0.955 1.318 0.442 -0.994 -0.000 1.670 89.97° +chair 0.341 0.516 0.393 -0.063 -0.003 2.078 -81.34° +lamp 0.624 0.111 0.663 0.276 2.398 0.788 -0.40° +floor 2.888 -0.033 5.637 0.057 -0.006 0.931 -0.00° +_scene_ 0.070 0.001 0.021 -5.671 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[0.606, -0.033, 1.489] + !! OVERLAP: nightstand <-> floor depth=[0.346, -0.033, 0.314] + !! OVERLAP: nightstand <-> floor depth=[0.342, -0.033, 0.368] + !! OVERLAP: table <-> floor depth=[0.869, -0.033, 0.442] + !! OVERLAP: chair <-> floor depth=[0.341, -0.033, 0.393] +============================================================ + + +============================================================ +SCENE: Bedroom-17102 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0014 (Center Penalty: 1.3600, C1 Heatmap: 0.5258, C2 Repulsion: 1.1033), Relational Loss: 0.0132 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.302 1.541 2.025 -0.770 0.012 0.723 90.26° +table 0.536 0.603 0.587 -1.269 0.001 1.375 0.00° +lamp 0.364 0.794 0.405 0.043 1.990 0.786 0.10° +wardrobe 1.539 2.326 0.464 -0.515 -0.004 -1.919 0.09° +floor 3.311 -0.003 4.090 -0.015 0.002 -0.138 -0.00° +_scene_ 0.075 0.001 0.020 -5.670 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.420, 0.603, 0.587] + !! OVERLAP: bed <-> floor depth=[1.302, -0.003, 2.025] + !! OVERLAP: table <-> floor depth=[0.536, -0.003, 0.587] + !! OVERLAP: wardrobe <-> floor depth=[1.539, -0.003, 0.464] +============================================================ + + +============================================================ +SCENE: MasterBedroom-40319 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0678, Walkable Loss: 2.0167 (Center Penalty: 0.8386, C1 Heatmap: 0.5110, C2 Repulsion: 3.8462), Relational Loss: 0.0209 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.527 2.342 0.407 -1.433 0.002 -0.661 90.01° +lamp 0.404 0.638 0.277 -1.098 1.612 -1.291 -0.04° +lamp 0.102 0.880 0.140 1.125 1.460 -1.397 0.29° +lamp 0.588 0.827 0.642 -0.298 1.848 -0.804 -0.01° +table 0.951 1.188 0.274 0.548 0.009 1.301 -179.98° +bed 1.449 1.056 1.688 -0.059 0.000 -0.657 0.09° +nightstand 0.087 0.542 0.117 0.956 0.004 -1.428 0.22° +nightstand 0.313 0.489 0.238 -1.321 0.007 -1.368 0.01° +floor 4.143 0.001 3.098 -0.963 -0.013 0.022 0.04° +_scene_ 0.071 0.001 0.020 -5.673 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> bed depth=[0.114, 1.056, 0.407] + !! OVERLAP: wardrobe <-> floor depth=[1.527, 0.001, 0.407] + !! OVERLAP: table <-> floor depth=[0.951, 0.001, 0.274] + !! OVERLAP: bed <-> floor depth=[1.449, 0.001, 1.688] + !! OVERLAP: nightstand <-> floor depth=[0.087, 0.001, 0.117] + !! OVERLAP: nightstand <-> floor depth=[0.313, 0.001, 0.238] +============================================================ + + +============================================================ +SCENE: MasterBedroom-28978 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0116, Walkable Loss: 2.7531 (Center Penalty: 1.6885, C1 Heatmap: 0.4603, C2 Repulsion: 3.4818), Relational Loss: 0.0184 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +nightstand 0.342 0.511 0.331 1.115 -0.000 -1.355 0.02° +bookshelf 0.887 1.909 -0.141 -0.192 0.004 -1.555 -0.37° +wardrobe 2.294 2.255 0.257 0.066 -0.001 1.481 179.95° +chair 0.432 0.856 0.392 -0.536 0.005 -1.004 -116.05° +desk 0.823 0.835 0.370 -1.275 -0.002 1.277 89.57° +bed 1.312 1.395 0.934 0.418 -0.015 -0.762 -91.43° +lamp 0.865 0.508 0.644 -0.311 2.399 0.633 -0.01° +floor 3.339 -0.001 3.535 -0.005 -0.000 0.003 -0.00° +_scene_ 0.068 -0.000 0.023 -5.672 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: nightstand <-> bed depth=[0.130, 0.511, 0.040] + !! OVERLAP: nightstand <-> floor depth=[0.342, -0.001, 0.331] + !! OVERLAP: bookshelf <-> floor depth=[0.887, -0.001, -0.141] + !! OVERLAP: wardrobe <-> desk depth=[0.218, 0.835, 0.109] + !! OVERLAP: wardrobe <-> floor depth=[2.294, -0.001, 0.257] + !! OVERLAP: chair <-> floor depth=[0.432, -0.001, 0.392] + !! OVERLAP: desk <-> floor depth=[0.812, -0.001, 0.370] + !! OVERLAP: bed <-> floor depth=[1.312, -0.001, 0.934] +============================================================ + + +============================================================ +SCENE: MasterBedroom-392 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3728 (Center Penalty: 0.5242, C1 Heatmap: 0.4140, C2 Repulsion: 2.5867), Relational Loss: 0.0269 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 2.135 2.361 0.281 -0.415 -0.011 -1.544 0.34° +nightstand 0.458 0.573 0.347 -1.264 0.004 -0.752 90.06° +nightstand 0.486 0.621 0.183 -1.057 0.002 -0.222 90.06° +nightstand 0.477 0.604 0.367 -1.391 0.005 1.883 90.04° +bed 0.380 1.083 1.867 -1.104 -0.011 0.791 89.37° +bookshelf 0.476 2.127 0.374 0.787 -0.022 1.653 -89.90° +lamp 0.532 0.968 0.559 -0.222 1.687 0.821 -0.03° +floor 3.205 0.020 5.035 -0.533 -0.021 0.821 0.42° +_scene_ 0.070 0.000 0.020 -5.672 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[2.135, 0.020, 0.281] + !! OVERLAP: nightstand <-> floor depth=[0.458, 0.020, 0.347] + !! OVERLAP: nightstand <-> bed depth=[0.380, 0.621, 0.011] + !! OVERLAP: nightstand <-> floor depth=[0.486, 0.020, 0.183] + !! OVERLAP: nightstand <-> bed depth=[0.141, 0.604, 0.025] + !! OVERLAP: nightstand <-> floor depth=[0.477, 0.020, 0.367] + !! OVERLAP: bed <-> floor depth=[0.380, 0.020, 1.867] + !! OVERLAP: bookshelf <-> floor depth=[0.476, 0.020, 0.374] +============================================================ + + +============================================================ +SCENE: MasterBedroom-3712 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0182, Walkable Loss: 1.9550 (Center Penalty: 1.4172, C1 Heatmap: 0.3985, C2 Repulsion: 1.0948), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.421 0.705 0.385 0.798 2.058 -0.465 0.24° +desk 0.850 0.787 0.600 -0.974 0.016 0.166 3.93° +chair 0.521 0.853 0.543 0.863 0.002 -0.949 152.24° +bed 0.834 1.182 2.167 -1.183 0.018 -0.141 -0.37° +floor 3.122 -0.001 2.844 -0.021 0.001 -0.021 -0.02° +_scene_ 0.062 0.002 0.019 -5.672 -0.004 -5.714 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bed depth=[0.633, 0.787, 0.600] + !! OVERLAP: desk <-> floor depth=[0.850, -0.001, 0.600] + !! OVERLAP: chair <-> floor depth=[0.521, -0.001, 0.543] + !! OVERLAP: bed <-> floor depth=[0.816, -0.001, 2.167] +============================================================ + + +============================================================ +SCENE: MasterBedroom-1446 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0318, Walkable Loss: 1.1034 (Center Penalty: 0.1888, C1 Heatmap: 0.5755, C2 Repulsion: 2.2708), Relational Loss: 0.0089 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.500 0.814 1.654 1.332 -0.008 1.095 179.61° +nightstand 0.345 0.552 0.251 2.280 0.002 1.875 -90.10° +wardrobe 1.319 2.048 0.409 -1.072 -0.004 -1.458 0.12° +lamp 0.225 1.010 0.193 0.968 1.737 0.734 -0.20° +chair 0.545 0.837 0.562 -0.921 -0.001 1.630 -156.42° +chair 0.724 0.907 0.804 -1.335 0.000 1.876 138.20° +chair 0.800 0.388 0.346 2.185 0.000 -0.613 179.92° +floor 5.214 -0.008 4.800 0.907 0.003 0.437 -0.04° +_scene_ 0.062 0.001 0.020 -5.674 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.500, -0.008, 1.654] + !! OVERLAP: nightstand <-> floor depth=[0.345, -0.008, 0.251] + !! OVERLAP: wardrobe <-> floor depth=[1.288, -0.008, 0.409] + !! OVERLAP: chair <-> chair depth=[0.220, 0.837, 0.437] + !! OVERLAP: chair <-> floor depth=[0.545, -0.008, 0.562] + !! OVERLAP: chair <-> floor depth=[0.724, -0.008, 0.804] + !! OVERLAP: chair <-> floor depth=[0.800, -0.008, 0.346] +============================================================ + + +============================================================ +SCENE: SecondBedroom-6847 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0978, Walkable Loss: 2.3326 (Center Penalty: 1.4464, C1 Heatmap: 0.4077, C2 Repulsion: 2.8003), Relational Loss: 0.0246 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.009 1.028 1.499 1.005 -0.011 0.069 -90.18° +cabinet 1.136 2.104 0.404 1.004 0.001 1.465 -179.96° +nightstand 0.313 0.565 0.371 1.310 0.000 0.630 -89.95° +nightstand 0.559 0.680 0.450 1.289 0.003 -1.361 -90.06° +cabinet 1.050 1.945 0.373 -1.120 -0.005 -0.812 90.13° +lamp 0.161 1.504 0.145 -0.281 1.183 -0.749 -0.00° +floor 3.133 -0.003 3.573 0.018 0.001 0.026 -0.01° +_scene_ 0.068 0.000 0.023 -5.676 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.313, 0.565, 0.371] + !! OVERLAP: bed <-> floor depth=[1.009, -0.003, 1.499] + !! OVERLAP: cabinet <-> floor depth=[1.136, -0.003, 0.404] + !! OVERLAP: nightstand <-> floor depth=[0.313, -0.003, 0.371] + !! OVERLAP: nightstand <-> floor depth=[0.559, -0.003, 0.450] + !! OVERLAP: cabinet <-> floor depth=[0.953, -0.003, 0.373] +============================================================ + + +============================================================ +SCENE: MasterBedroom-12183 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0613, Walkable Loss: 2.2904 (Center Penalty: 1.3460, C1 Heatmap: 0.5543, C2 Repulsion: 2.5052), Relational Loss: 0.0252 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.628 0.819 0.818 -1.276 -0.003 -0.493 90.03° +bed 1.253 1.048 1.731 0.996 -0.028 -0.447 -0.30° +nightstand 0.421 0.615 0.385 -0.634 0.001 -1.253 -0.02° +nightstand 0.536 0.599 0.530 1.406 0.001 -1.039 0.04° +lamp 0.502 0.232 0.485 0.798 2.393 -0.380 -0.11° +lamp 0.646 0.827 0.642 -1.622 1.969 -1.142 -0.02° +floor 4.045 -0.001 2.881 -0.011 -0.000 -0.018 -0.05° +_scene_ 0.070 0.001 0.022 -5.673 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.571, -0.001, 0.818] + !! OVERLAP: bed <-> nightstand depth=[0.484, 0.599, 0.530] + !! OVERLAP: bed <-> floor depth=[1.253, -0.001, 1.731] + !! OVERLAP: nightstand <-> floor depth=[0.421, -0.001, 0.385] + !! OVERLAP: nightstand <-> floor depth=[0.536, -0.001, 0.530] +============================================================ + + +============================================================ +SCENE: Bedroom-8136 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2297 (Center Penalty: 0.6957, C1 Heatmap: 0.5560, C2 Repulsion: 0.4460), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.315 1.190 1.957 -0.105 0.005 -0.859 -89.59° +wardrobe 2.163 2.501 0.408 -0.641 -0.010 1.220 179.75° +lamp 0.916 0.674 0.126 0.093 2.016 -1.035 -0.09° +floor 3.043 -0.008 4.267 -0.328 -0.001 -0.664 0.47° +_scene_ 0.016 -0.000 0.004 -5.685 -0.007 -5.718 -57.43° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> floor depth=[1.315, -0.008, 1.957] + !! OVERLAP: wardrobe <-> floor depth=[2.163, -0.008, 0.408] +============================================================ + + +============================================================ +SCENE: MasterBedroom-24714 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1131, Walkable Loss: 1.2592 (Center Penalty: 0.5773, C1 Heatmap: 0.4869, C2 Repulsion: 1.4619), Relational Loss: 0.0334 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.436 2.386 0.349 0.516 0.012 -0.940 0.38° +bed 1.171 1.197 1.500 0.719 0.012 1.027 -85.22° +tv_stand 1.698 0.472 0.372 -1.236 -0.000 0.767 90.02° +nightstand 0.289 0.649 0.330 1.265 0.002 -0.454 -90.18° +lamp 1.031 0.843 0.927 -0.144 2.000 0.779 0.02° +floor 3.487 -0.017 4.421 -0.228 0.004 1.029 0.24° +_scene_ 0.062 -0.002 0.020 -5.672 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.436, -0.017, 0.349] + !! OVERLAP: bed <-> floor depth=[1.171, -0.017, 1.500] + !! OVERLAP: tv_stand <-> floor depth=[1.585, -0.017, 0.372] + !! OVERLAP: nightstand <-> floor depth=[0.289, -0.017, 0.330] +============================================================ + + +============================================================ +SCENE: Bedroom-13858 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0740, Walkable Loss: 1.3503 (Center Penalty: 0.4365, C1 Heatmap: 0.5414, C2 Repulsion: 2.4032), Relational Loss: 0.0467 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 1.765 1.441 2.115 -0.831 -0.010 -1.142 0.18° +wardrobe 0.811 2.207 0.400 0.910 0.002 -0.837 -179.84° +nightstand 0.465 0.650 0.354 1.099 0.001 -1.616 -0.00° +nightstand 0.558 0.528 0.413 -1.458 -0.000 -1.559 0.01° +lamp 1.075 0.771 1.082 -0.573 2.181 -0.718 -0.08° +floor 4.482 0.002 3.526 -0.843 -0.001 -0.362 -0.22° +_scene_ 0.074 -0.001 0.030 -5.668 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> nightstand depth=[0.534, 0.528, 0.413] + !! OVERLAP: bed <-> floor depth=[1.765, 0.002, 2.041] + !! OVERLAP: wardrobe <-> floor depth=[0.811, 0.002, 0.400] + !! OVERLAP: nightstand <-> floor depth=[0.465, 0.002, 0.354] + !! OVERLAP: nightstand <-> floor depth=[0.558, 0.002, 0.413] +============================================================ + + +============================================================ +SCENE: MasterBedroom-118 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1304, Walkable Loss: 0.9398 (Center Penalty: 0.6406, C1 Heatmap: 0.1240, C2 Repulsion: 1.0000), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bed 0.515 1.126 1.313 -0.797 -0.005 -0.615 90.18° +table 0.250 0.550 0.404 -0.950 -0.009 -1.014 90.01° +lamp 0.531 0.995 0.419 -0.740 2.050 -0.224 0.01° +floor 2.836 -0.032 3.141 0.416 -0.025 -0.818 -1.23° +_scene_ 0.059 0.000 0.036 -5.669 -0.006 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bed <-> table depth=[0.229, 0.550, 0.404] + !! OVERLAP: bed <-> floor depth=[0.462, -0.032, 1.313] + !! OVERLAP: table <-> floor depth=[0.176, -0.032, 0.404] +============================================================ + + +============================================================ +SCENE: LivingRoom-37659 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0499, Walkable Loss: 1.0175 (Center Penalty: 0.3614, C1 Heatmap: 0.3788, C2 Repulsion: 1.7649), Relational Loss: 0.0004 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.143 0.892 0.678 1.340 -0.007 0.988 -90.27° +chair 0.564 0.871 0.636 0.475 0.000 2.325 179.93° +chair 0.538 0.396 0.478 0.462 0.008 -0.862 0.23° +table 1.104 0.531 0.354 -0.547 -0.001 1.046 0.05° +chair 0.474 0.813 0.460 -0.762 -0.002 2.074 126.85° +table 0.579 0.652 0.431 -1.851 -0.001 -1.712 0.05° +table 0.442 0.657 0.521 -1.735 0.000 2.549 0.07° +lamp 0.412 1.038 0.424 0.293 1.433 1.053 -0.05° +floor 4.483 0.000 6.785 -0.380 0.002 1.135 -0.14° +_scene_ 0.076 -0.000 0.022 -5.668 -0.004 -5.710 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.093, 0.000, 0.678] + !! OVERLAP: chair <-> floor depth=[0.564, 0.000, 0.636] + !! OVERLAP: chair <-> floor depth=[0.538, 0.000, 0.478] + !! OVERLAP: table <-> floor depth=[1.104, 0.000, 0.354] + !! OVERLAP: chair <-> floor depth=[0.474, 0.000, 0.460] + !! OVERLAP: table <-> floor depth=[0.579, 0.000, 0.431] + !! OVERLAP: table <-> floor depth=[0.442, 0.000, 0.521] +============================================================ + + +============================================================ +SCENE: LivingRoom-1520 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0713, Walkable Loss: 1.7326 (Center Penalty: 0.2263, C1 Heatmap: 0.5396, C2 Repulsion: 5.3732), Relational Loss: 0.0288 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.743 1.093 0.242 -0.716 -0.028 1.975 91.03° +table 1.231 0.589 0.701 -0.861 0.001 1.436 90.08° +tv_stand 1.320 0.553 0.225 0.496 0.002 2.143 -90.78° +chair 0.394 0.536 0.438 -1.038 0.002 0.232 -0.01° +table 0.798 0.728 0.561 -0.828 0.004 -1.956 1.62° +chair 0.467 1.027 0.514 -1.806 -0.002 -1.034 179.93° +chair 0.458 1.056 0.432 -0.800 0.002 -1.080 -180.00° +chair 0.340 1.012 0.409 -0.818 0.002 -2.258 -89.79° +chair 0.523 1.094 0.547 -1.772 -0.001 -2.295 0.01° +cabinet 1.151 0.886 0.267 0.064 0.008 -2.795 0.06° +lamp 0.396 0.958 0.392 -1.279 1.653 -1.586 -0.04° +lamp 0.600 0.896 0.594 -0.764 1.721 1.892 -0.01° +floor 4.360 0.018 6.394 -1.096 -0.000 -0.015 -0.03° +_scene_ 0.070 -0.000 0.021 -5.670 -0.005 -5.716 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> tv_stand depth=[0.320, 0.553, 0.065] + !! OVERLAP: sofa <-> floor depth=[1.743, 0.018, 0.242] + !! OVERLAP: table <-> floor depth=[1.231, 0.018, 0.701] + !! OVERLAP: tv_stand <-> floor depth=[1.249, 0.018, 0.225] + !! OVERLAP: chair <-> floor depth=[0.394, 0.018, 0.438] + !! OVERLAP: table <-> chair depth=[0.340, 0.728, 0.183] + !! OVERLAP: table <-> floor depth=[0.798, 0.018, 0.561] + !! OVERLAP: chair <-> floor depth=[0.467, 0.018, 0.514] + !! OVERLAP: chair <-> floor depth=[0.458, 0.018, 0.432] + !! OVERLAP: chair <-> floor depth=[0.340, 0.018, 0.409] + !! OVERLAP: chair <-> floor depth=[0.523, 0.018, 0.547] + !! OVERLAP: cabinet <-> floor depth=[1.151, 0.018, 0.267] +============================================================ + + +============================================================ +SCENE: LivingRoom-17951 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1634, Walkable Loss: 1.2706 (Center Penalty: 0.9096, C1 Heatmap: 0.3194, C2 Repulsion: 0.5274), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.805 0.772 0.864 -1.084 0.001 -0.497 89.92° +table 0.985 0.578 0.291 0.305 0.035 -0.893 -89.72° +tv_stand 0.720 1.409 0.276 0.753 -0.017 0.689 -88.47° +lamp 0.501 0.400 0.452 0.394 2.023 -0.587 0.44° +floor 3.704 -0.033 3.596 -0.902 0.009 -0.116 -0.33° +_scene_ 0.068 0.001 0.018 -5.672 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.005, 0.578, 0.182] + !! OVERLAP: sofa <-> floor depth=[1.805, -0.033, 0.864] + !! OVERLAP: table <-> floor depth=[0.985, -0.033, 0.291] + !! OVERLAP: tv_stand <-> floor depth=[0.556, -0.033, 0.276] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-629 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0717, Walkable Loss: 2.4096 (Center Penalty: 0.3345, C1 Heatmap: 0.8439, C2 Repulsion: 7.0001), Relational Loss: 0.0184 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.756 0.865 0.778 1.073 -0.007 -0.980 0.32° +tv_stand 1.938 0.528 0.203 0.958 0.006 1.133 179.91° +desk 0.823 0.425 0.285 1.556 0.000 -0.287 -89.77° +table 0.043 0.806 0.436 -1.820 0.150 -0.127 -1.01° +chair 0.398 0.594 0.383 -2.346 0.001 -0.826 89.97° +chair 0.486 0.692 0.434 -3.121 0.004 0.073 89.92° +chair 0.392 0.767 0.462 -1.254 -0.000 -0.731 -90.04° +chair 0.337 0.776 0.359 -1.165 0.002 0.079 -90.15° +cabinet 2.971 2.452 0.159 -1.626 -0.011 1.320 -179.60° +bookshelf 1.785 2.279 0.105 -1.833 -0.007 -1.953 0.02° +chair 0.387 0.702 0.406 -2.359 0.001 0.030 89.96° +cabinet 1.502 2.008 0.216 -2.981 -0.010 0.019 90.65° +lamp 0.884 0.647 0.883 1.409 1.950 -0.469 -0.10° +lamp 0.270 0.421 0.284 -1.373 2.051 -0.235 -0.05° +floor 5.926 0.001 3.333 -0.856 -0.005 -0.327 0.33° +_scene_ 0.074 -0.002 0.021 -5.671 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.756, 0.001, 0.778] + !! OVERLAP: tv_stand <-> floor depth=[1.938, 0.001, 0.203] + !! OVERLAP: desk <-> floor depth=[0.823, 0.001, 0.285] + !! OVERLAP: table <-> floor depth=[0.043, 0.001, 0.436] + !! OVERLAP: chair <-> floor depth=[0.398, 0.001, 0.383] + !! OVERLAP: chair <-> cabinet depth=[0.486, 0.692, 0.216] + !! OVERLAP: chair <-> floor depth=[0.486, 0.001, 0.434] + !! OVERLAP: chair <-> floor depth=[0.392, 0.001, 0.462] + !! OVERLAP: chair <-> floor depth=[0.337, 0.001, 0.359] + !! OVERLAP: cabinet <-> floor depth=[2.971, 0.001, 0.099] + !! OVERLAP: bookshelf <-> floor depth=[1.785, 0.001, 0.093] + !! OVERLAP: chair <-> cabinet depth=[0.323, 0.702, 0.216] + !! OVERLAP: chair <-> floor depth=[0.387, 0.001, 0.406] + !! OVERLAP: cabinet <-> floor depth=[1.502, 0.001, 0.216] +============================================================ + + +============================================================ +SCENE: LivingRoom-71071 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2263, Walkable Loss: 1.3902 (Center Penalty: 0.1447, C1 Heatmap: 0.6091, C2 Repulsion: 3.7909), Relational Loss: 0.0124 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.542 1.074 0.320 2.525 0.003 -0.379 -89.93° +table 0.501 0.540 0.572 3.091 0.001 -3.097 0.10° +lamp 0.951 1.014 0.942 1.444 1.860 -1.599 0.05° +tv_stand 2.092 0.522 0.386 -0.735 0.001 -1.409 89.99° +chair 0.453 0.793 0.460 1.467 0.000 1.569 -90.14° +chair 0.398 0.847 0.494 1.432 0.003 0.837 -91.02° +chair 0.409 0.862 0.437 -0.174 -0.000 1.085 90.20° +chair 0.367 0.824 0.390 -0.078 -0.003 1.924 90.36° +table 1.214 0.813 0.147 0.703 -0.014 1.770 -91.24° +sofa 1.566 1.031 0.481 1.698 -0.013 -1.148 -89.42° +table 0.894 0.510 0.829 2.166 -0.017 -1.524 179.35° +lamp 0.501 0.205 0.536 -1.455 2.479 1.843 0.04° +table 0.623 0.964 0.450 -1.597 0.001 3.002 -179.91° +lamp 0.534 0.903 0.238 0.901 1.791 1.408 -89.85° +floor 5.981 0.010 6.953 1.237 0.002 -0.293 -0.02° +_scene_ 0.072 0.001 0.025 -5.669 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.542, 0.010, 0.320] + !! OVERLAP: table <-> floor depth=[0.501, 0.010, 0.572] + !! OVERLAP: tv_stand <-> floor depth=[2.065, 0.010, 0.386] + !! OVERLAP: chair <-> table depth=[0.069, 0.788, 0.103] + !! OVERLAP: chair <-> floor depth=[0.453, 0.010, 0.460] + !! OVERLAP: chair <-> floor depth=[0.398, 0.010, 0.494] + !! OVERLAP: chair <-> floor depth=[0.409, 0.010, 0.437] + !! OVERLAP: chair <-> table depth=[0.010, 0.807, 0.115] + !! OVERLAP: chair <-> floor depth=[0.367, 0.010, 0.390] + !! OVERLAP: table <-> floor depth=[1.214, 0.010, 0.147] + !! OVERLAP: sofa <-> table depth=[0.762, 0.510, 0.279] + !! OVERLAP: sofa <-> floor depth=[1.566, 0.010, 0.481] + !! OVERLAP: table <-> floor depth=[0.894, 0.010, 0.829] + !! OVERLAP: table <-> floor depth=[0.468, 0.010, 0.407] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9790 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0664, Walkable Loss: 1.3539 (Center Penalty: 0.4563, C1 Heatmap: 0.5503, C2 Repulsion: 2.2866), Relational Loss: 0.0098 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.045 0.923 0.845 -1.381 0.002 2.104 90.05° +tv_stand 0.900 0.489 0.171 1.336 0.009 2.300 -90.07° +cabinet 0.921 0.887 0.355 -1.901 0.002 -2.628 89.90° +table 0.923 0.884 0.607 -0.071 0.019 -1.055 -0.30° +chair 0.369 0.646 0.400 -1.099 -0.001 -0.671 -179.89° +chair 0.424 0.640 0.461 -0.983 0.000 -1.583 0.03° +chair 0.578 0.636 0.475 1.181 0.001 -0.055 179.77° +chair 0.351 0.602 0.464 0.958 -0.001 -1.131 -0.04° +lamp 0.176 0.355 0.110 -1.576 2.281 -2.659 -0.08° +lamp 0.860 0.864 0.845 -0.517 1.870 1.759 -0.02° +lamp 0.255 0.999 0.254 -0.129 2.100 -1.122 -0.03° +table 0.944 0.434 0.750 0.279 -0.001 2.054 -89.88° +floor 4.130 -0.005 7.666 -0.346 -0.001 0.893 -0.10° +_scene_ 0.070 0.000 0.022 -5.672 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.045, -0.005, 0.845] + !! OVERLAP: tv_stand <-> floor depth=[0.833, -0.005, 0.171] + !! OVERLAP: cabinet <-> floor depth=[0.921, -0.005, 0.355] + !! OVERLAP: table <-> floor depth=[0.923, -0.005, 0.607] + !! OVERLAP: chair <-> floor depth=[0.369, -0.005, 0.400] + !! OVERLAP: chair <-> floor depth=[0.424, -0.005, 0.461] + !! OVERLAP: chair <-> floor depth=[0.578, -0.005, 0.475] + !! OVERLAP: chair <-> floor depth=[0.351, -0.005, 0.464] + !! OVERLAP: table <-> floor depth=[0.944, -0.005, 0.750] +============================================================ + + +============================================================ +SCENE: LivingRoom-791 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1615, Walkable Loss: 1.7708 (Center Penalty: 0.5841, C1 Heatmap: 0.6160, C2 Repulsion: 3.4695), Relational Loss: 0.0209 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.091 0.750 0.296 1.679 -0.014 1.408 -0.43° +chair 0.450 0.800 0.429 1.840 0.005 2.195 179.96° +chair 0.426 0.891 0.561 0.570 -0.001 1.872 -179.78° +chair 0.441 0.912 0.483 2.119 -0.001 0.470 0.00° +chair 0.461 0.910 0.531 1.175 -0.001 0.601 0.08° +sofa 1.784 0.888 0.773 1.927 -0.002 -0.787 -90.28° +tv_stand 1.181 0.676 0.467 -1.211 0.044 -2.205 91.09° +table 0.551 0.250 0.647 -0.482 -0.003 -0.559 -90.05° +table 1.112 1.496 0.475 -1.104 0.010 1.199 -179.88° +table 0.437 0.575 0.459 1.615 0.002 -2.402 0.09° +lamp 0.617 0.936 0.609 1.055 1.799 -0.042 -0.02° +lamp 0.588 0.901 0.619 1.449 1.993 -0.197 0.14° +lamp 0.509 1.162 0.490 -0.100 1.626 -1.751 0.04° +floor 5.142 0.012 6.130 0.921 0.002 -0.604 -0.06° +_scene_ 0.069 -0.001 0.031 -5.667 -0.005 -5.711 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.091, 0.012, 0.296] + !! OVERLAP: chair <-> floor depth=[0.450, 0.012, 0.429] + !! OVERLAP: chair <-> floor depth=[0.426, 0.012, 0.561] + !! OVERLAP: chair <-> floor depth=[0.441, 0.012, 0.483] + !! OVERLAP: chair <-> floor depth=[0.461, 0.012, 0.531] + !! OVERLAP: sofa <-> floor depth=[1.784, 0.012, 0.773] + !! OVERLAP: tv_stand <-> floor depth=[1.030, 0.012, 0.467] + !! OVERLAP: table <-> floor depth=[0.551, 0.012, 0.647] + !! OVERLAP: table <-> floor depth=[1.102, 0.012, 0.475] + !! OVERLAP: table <-> floor depth=[0.437, 0.012, 0.459] + !! OVERLAP: lamp <-> lamp depth=[0.209, 0.725, 0.460] +============================================================ + + +============================================================ +SCENE: LivingRoom-24046 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0739, Walkable Loss: 1.1566 (Center Penalty: 0.5288, C1 Heatmap: 0.3926, C2 Repulsion: 1.5685), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.109 1.349 0.393 1.124 0.002 -0.470 -89.98° +sofa 1.911 0.845 0.752 0.564 -0.009 -0.703 -90.27° +table 0.599 0.389 0.442 -1.547 0.001 0.075 179.79° +lamp 0.584 0.833 0.533 0.166 2.065 0.975 0.02° +chair 0.672 0.734 0.559 -1.220 0.005 -0.829 12.36° +floor 4.165 0.024 4.067 -0.335 -0.004 0.976 1.77° +_scene_ 0.076 0.000 0.026 -5.670 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> sofa depth=[0.950, 0.845, 0.339] + !! OVERLAP: bookshelf <-> floor depth=[1.109, 0.024, 0.393] + !! OVERLAP: sofa <-> floor depth=[1.911, 0.024, 0.730] + !! OVERLAP: table <-> floor depth=[0.599, 0.024, 0.442] + !! OVERLAP: chair <-> floor depth=[0.672, 0.024, 0.507] +============================================================ + + +============================================================ +SCENE: LivingRoom-13599 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2797 (Center Penalty: 0.6995, C1 Heatmap: 0.4535, C2 Repulsion: 1.0872), Relational Loss: 0.0523 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.820 0.923 0.768 0.170 0.009 -1.645 -0.18° +chair 0.732 0.850 0.720 0.193 0.002 2.269 171.84° +table 0.489 0.557 0.450 -0.913 0.001 2.134 90.09° +table 0.439 0.400 0.476 -1.104 0.003 -1.386 90.10° +table 1.019 0.404 0.484 0.553 -0.000 0.650 89.97° +tv_stand 1.486 0.603 0.324 2.073 0.000 0.143 -90.07° +lamp 0.388 0.874 0.422 0.577 1.899 0.704 -0.17° +sofa 1.063 0.802 0.378 -0.742 0.008 0.914 90.55° +floor 4.447 -0.036 6.757 0.756 0.005 -0.463 0.49° +_scene_ 0.070 0.002 0.023 -5.669 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.820, -0.036, 0.768] + !! OVERLAP: chair <-> floor depth=[0.732, -0.036, 0.720] + !! OVERLAP: table <-> floor depth=[0.489, -0.036, 0.450] + !! OVERLAP: table <-> floor depth=[0.439, -0.036, 0.476] + !! OVERLAP: table <-> floor depth=[1.019, -0.036, 0.484] + !! OVERLAP: tv_stand <-> floor depth=[1.486, -0.036, 0.324] + !! OVERLAP: sofa <-> floor depth=[1.063, -0.036, 0.378] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13945 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0327, Walkable Loss: 1.2544 (Center Penalty: 0.4364, C1 Heatmap: 0.4812, C2 Repulsion: 2.1657), Relational Loss: 0.0272 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.930 0.788 -0.656 -1.712 -0.045 -0.946 -0.57° +chair 0.459 0.658 0.481 -2.781 0.002 -2.034 0.08° +chair 0.352 0.361 0.315 -2.554 -0.001 -1.098 0.03° +chair 0.371 0.372 0.330 -2.672 -0.000 -0.421 -0.05° +table 0.726 0.377 0.542 -1.247 -0.001 -0.438 0.04° +chair 0.354 1.083 0.350 -0.182 0.000 1.033 89.71° +lamp 0.124 0.955 0.121 -2.851 1.618 -1.956 -0.07° +chair 0.459 0.988 0.522 1.313 -0.003 -0.213 -63.74° +cabinet 0.879 0.849 0.330 1.661 -0.006 2.215 -178.11° +table 0.438 1.148 0.416 2.454 0.010 -2.045 -0.06° +shelf 0.130 2.131 0.322 2.421 -0.017 1.947 -0.13° +lamp 0.320 1.003 0.332 1.002 1.803 0.006 -0.04° +tv_stand 3.184 0.700 0.323 -1.500 -0.006 2.246 0.20° +floor 6.976 -0.015 5.651 -0.828 0.002 0.571 -0.02° +_scene_ 0.071 0.001 0.026 -5.670 -0.004 -5.712 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.930, -0.015, -0.656] + !! OVERLAP: chair <-> floor depth=[0.459, -0.015, 0.461] + !! OVERLAP: chair <-> floor depth=[0.352, -0.015, 0.315] + !! OVERLAP: chair <-> floor depth=[0.371, -0.015, 0.330] + !! OVERLAP: table <-> floor depth=[0.726, -0.015, 0.542] + !! OVERLAP: chair <-> floor depth=[0.354, -0.015, 0.350] + !! OVERLAP: chair <-> floor depth=[0.459, -0.015, 0.522] + !! OVERLAP: cabinet <-> floor depth=[0.879, -0.015, 0.330] + !! OVERLAP: table <-> floor depth=[0.425, -0.015, 0.416] + !! OVERLAP: shelf <-> floor depth=[0.130, -0.015, 0.322] + !! OVERLAP: tv_stand <-> floor depth=[3.184, -0.015, 0.323] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-758 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1107, Walkable Loss: 1.6839 (Center Penalty: 0.9244, C1 Heatmap: 0.2881, C2 Repulsion: 2.6457), Relational Loss: 0.0284 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.664 0.984 0.646 0.279 1.961 -1.344 -0.04° +table 1.114 0.785 0.206 -0.742 -0.006 0.511 -94.45° +chair 0.412 0.855 0.187 0.362 -0.002 0.906 -90.21° +chair 0.238 0.920 0.093 -1.292 0.001 0.849 0.48° +lamp 0.279 0.739 0.155 -1.247 1.684 0.871 -0.16° +lamp 0.266 0.742 0.215 -0.633 1.846 0.831 -0.16° +sofa 1.537 0.821 -0.343 -1.276 -0.025 -0.939 90.49° +table 0.720 0.310 0.491 0.393 -0.001 -0.647 -90.10° +tv_stand 1.274 0.485 0.227 1.105 0.006 -1.284 -90.50° +table 1.510 2.365 0.092 -1.704 -0.003 0.270 90.35° +floor 4.112 -0.019 3.985 -0.390 -0.008 -1.015 0.36° +_scene_ 0.066 0.001 0.019 -5.677 -0.005 -5.718 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.114, -0.019, 0.206] + !! OVERLAP: chair <-> floor depth=[0.412, -0.019, 0.165] + !! OVERLAP: chair <-> floor depth=[0.238, -0.019, 0.093] + !! OVERLAP: sofa <-> floor depth=[1.537, -0.019, -0.343] + !! OVERLAP: table <-> floor depth=[0.720, -0.019, 0.491] + !! OVERLAP: tv_stand <-> floor depth=[1.198, -0.019, 0.227] + !! OVERLAP: table <-> floor depth=[1.497, -0.019, 0.092] +============================================================ + + +============================================================ +SCENE: LivingRoom-33324 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1722, Walkable Loss: 1.2914 (Center Penalty: 0.8746, C1 Heatmap: 0.3773, C2 Repulsion: 0.5746), Relational Loss: 0.0129 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.265 0.693 0.355 1.317 0.005 0.286 -89.74° +table 0.507 1.104 0.397 -1.236 0.002 2.062 90.01° +sofa 1.380 0.912 0.677 -1.096 -0.032 0.459 90.92° +table 0.268 0.520 0.381 0.189 0.001 1.075 90.26° +chair 0.688 0.820 0.683 0.110 0.001 2.308 179.91° +bookshelf 1.040 2.417 0.235 -1.183 -0.003 -2.122 0.08° +lamp 0.406 0.865 0.399 0.538 2.038 0.494 0.02° +floor 3.563 0.002 6.185 0.049 -0.002 0.720 -0.02° +_scene_ 0.067 -0.000 0.018 -5.674 -0.005 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.146, 0.002, 0.355] + !! OVERLAP: table <-> floor depth=[0.507, 0.002, 0.397] + !! OVERLAP: sofa <-> floor depth=[1.327, 0.002, 0.677] + !! OVERLAP: table <-> floor depth=[0.268, 0.002, 0.381] + !! OVERLAP: chair <-> floor depth=[0.688, 0.002, 0.683] + !! OVERLAP: bookshelf <-> floor depth=[1.040, 0.002, 0.235] +============================================================ + + +============================================================ +SCENE: LivingRoom-30147 | 20 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3715 (Center Penalty: 0.1526, C1 Heatmap: 0.4216, C2 Repulsion: 4.4082), Relational Loss: 0.0141 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.456 0.644 0.335 -0.299 1.933 2.228 0.04° +lamp 0.874 0.798 0.996 -0.945 1.799 -3.188 0.10° +tv_stand 2.295 1.065 0.295 -2.801 0.009 3.045 89.92° +chair 0.373 0.436 0.325 0.007 -0.003 1.349 89.58° +chair 0.428 0.424 0.418 -0.640 -0.003 0.884 -0.03° +table 0.991 0.482 0.431 -0.050 0.002 2.348 -90.00° +table 0.385 0.648 0.472 1.441 0.002 0.792 -90.03° +table 0.386 0.599 0.432 1.440 -0.001 3.934 -90.01° +sofa 1.383 0.935 0.558 0.916 -0.016 2.443 -90.08° +sofa 1.816 0.798 0.643 -0.451 0.004 4.403 -179.99° +table 0.935 0.796 0.321 -0.791 0.015 -3.078 1.85° +chair 0.617 1.096 0.635 -1.101 -0.002 -2.056 -179.91° +chair 0.461 1.068 0.503 0.227 -0.000 -2.864 -98.35° +chair 0.390 1.076 0.454 0.113 -0.003 -3.740 -79.07° +chair 0.442 1.146 0.546 -0.797 -0.003 -4.200 0.16° +chair 0.613 1.040 0.692 -2.045 -0.002 -3.731 89.62° +chair 0.324 1.082 0.292 -1.895 -0.001 -2.712 109.82° +table 0.498 0.584 0.324 -2.401 0.003 -0.726 90.07° +floor 5.836 -0.009 10.242 -1.273 -0.001 0.374 -0.06° +_scene_ 0.067 0.000 0.020 -5.669 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.295, -0.009, 0.295] + !! OVERLAP: chair <-> floor depth=[0.373, -0.009, 0.325] + !! OVERLAP: chair <-> floor depth=[0.428, -0.009, 0.418] + !! OVERLAP: table <-> sofa depth=[0.221, 0.482, 0.400] + !! OVERLAP: table <-> floor depth=[0.991, -0.009, 0.431] + !! OVERLAP: table <-> floor depth=[0.385, -0.009, 0.472] + !! OVERLAP: table <-> floor depth=[0.386, -0.009, 0.432] + !! OVERLAP: sofa <-> floor depth=[1.383, -0.009, 0.558] + !! OVERLAP: sofa <-> floor depth=[1.816, -0.009, 0.643] + !! OVERLAP: table <-> floor depth=[0.935, -0.009, 0.321] + !! OVERLAP: chair <-> floor depth=[0.617, -0.009, 0.635] + !! OVERLAP: chair <-> floor depth=[0.461, -0.009, 0.503] + !! OVERLAP: chair <-> floor depth=[0.390, -0.009, 0.454] + !! OVERLAP: chair <-> floor depth=[0.442, -0.009, 0.546] + !! OVERLAP: chair <-> floor depth=[0.613, -0.009, 0.692] + !! OVERLAP: chair <-> floor depth=[0.324, -0.009, 0.292] + !! OVERLAP: table <-> floor depth=[0.498, -0.009, 0.324] +============================================================ + + +============================================================ +SCENE: LivingRoom-29294 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0679, Walkable Loss: 1.4153 (Center Penalty: 0.5974, C1 Heatmap: 0.5808, C2 Repulsion: 1.7667), Relational Loss: 0.0196 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.500 1.088 0.379 -2.497 0.001 -2.122 0.00° +table 0.514 1.227 0.342 1.867 0.000 -2.120 0.06° +sofa 1.704 0.923 0.625 -2.569 0.001 0.219 90.19° +table 1.159 0.441 0.783 -0.622 0.010 0.509 0.11° +chair 0.658 0.762 0.681 1.808 0.001 0.215 -70.05° +sofa 1.619 0.686 0.658 -0.379 -0.000 -1.891 0.05° +table 0.372 0.834 0.386 1.022 0.001 -2.183 0.08° +table 0.491 0.731 0.470 -1.577 0.002 -1.860 0.06° +lamp 0.892 0.706 0.660 -0.610 1.925 0.590 -0.23° +floor 6.013 0.007 4.995 -0.910 -0.000 -0.644 0.02° +_scene_ 0.231 0.078 0.492 -4.837 0.007 -4.747 -63.96° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.500, 0.007, 0.379] + !! OVERLAP: table <-> floor depth=[0.487, 0.007, 0.342] + !! OVERLAP: sofa <-> floor depth=[1.704, 0.007, 0.625] + !! OVERLAP: table <-> floor depth=[1.159, 0.007, 0.783] + !! OVERLAP: chair <-> floor depth=[0.618, 0.007, 0.681] + !! OVERLAP: sofa <-> floor depth=[1.619, 0.007, 0.658] + !! OVERLAP: table <-> floor depth=[0.372, 0.007, 0.386] + !! OVERLAP: table <-> floor depth=[0.491, 0.007, 0.470] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35401 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2464 (Center Penalty: 0.1472, C1 Heatmap: 0.6184, C2 Repulsion: 3.0228), Relational Loss: 0.0122 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.558 0.864 0.604 -0.554 -0.000 1.330 89.86° +chair 0.566 0.853 0.552 -0.402 -0.001 1.786 89.96° +chair 0.464 0.954 0.610 0.940 0.001 1.118 -89.99° +chair 0.463 0.871 0.507 0.869 0.001 2.039 -90.17° +sofa 2.007 0.873 0.758 -1.247 0.003 -1.345 90.02° +table 1.604 2.060 0.465 -2.001 0.007 0.151 89.98° +table 1.020 0.381 0.723 0.241 0.001 -1.960 -90.16° +lamp 0.389 0.557 0.384 -0.004 2.431 -1.663 -0.07° +lamp 0.172 0.580 0.161 0.565 2.097 1.331 -89.85° +floor 4.109 -0.004 6.843 -0.814 -0.002 -0.717 0.01° +_scene_ 0.069 0.001 0.022 -5.665 -0.005 -5.710 -57.20° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> chair depth=[0.411, 0.853, 0.122] + !! OVERLAP: chair <-> floor depth=[0.558, -0.004, 0.604] + !! OVERLAP: chair <-> floor depth=[0.566, -0.004, 0.552] + !! OVERLAP: chair <-> floor depth=[0.464, -0.004, 0.610] + !! OVERLAP: chair <-> floor depth=[0.463, -0.004, 0.507] + !! OVERLAP: sofa <-> table depth=[0.026, 0.381, 0.125] + !! OVERLAP: sofa <-> floor depth=[2.007, -0.004, 0.758] + !! OVERLAP: table <-> floor depth=[1.604, -0.004, 0.465] + !! OVERLAP: table <-> floor depth=[1.020, -0.004, 0.723] +============================================================ + + +============================================================ +SCENE: LivingRoom-35085 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0429, Walkable Loss: 2.1408 (Center Penalty: 1.1081, C1 Heatmap: 0.5491, C2 Repulsion: 2.9670), Relational Loss: 0.0251 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.706 0.839 0.595 0.595 -0.019 0.571 -90.36° +table 0.296 0.427 0.316 1.208 -0.002 1.537 -90.10° +table 0.363 0.497 0.193 1.005 0.001 -1.980 -89.66° +table 1.055 0.347 0.651 0.121 0.005 -0.857 -89.96° +chair 0.646 0.890 0.682 -1.147 0.001 -1.499 0.02° +chair 0.731 0.895 0.729 -1.074 -0.001 1.519 174.67° +tv_stand 1.690 0.541 0.312 -1.713 0.001 -0.411 90.09° +lamp 0.467 0.895 0.381 -0.185 1.873 -0.714 0.56° +floor 3.988 0.002 5.209 -0.521 0.001 -0.594 0.17° +_scene_ 0.067 -0.000 0.023 -5.673 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.706, 0.002, 0.595] + !! OVERLAP: table <-> floor depth=[0.296, 0.002, 0.316] + !! OVERLAP: table <-> floor depth=[0.363, 0.002, 0.193] + !! OVERLAP: table <-> floor depth=[1.055, 0.002, 0.651] + !! OVERLAP: chair <-> floor depth=[0.646, 0.002, 0.682] + !! OVERLAP: chair <-> floor depth=[0.731, 0.002, 0.729] + !! OVERLAP: tv_stand <-> floor depth=[1.647, 0.002, 0.312] +============================================================ + + +============================================================ +SCENE: LivingRoom-25582 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8266 (Center Penalty: 0.6114, C1 Heatmap: 0.5827, C2 Repulsion: 3.7451), Relational Loss: 0.0368 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.285 0.685 0.638 -0.926 -0.006 1.492 179.96° +table 0.386 0.444 0.418 -1.005 -0.000 -0.480 -90.33° +tv_stand 1.284 0.360 0.267 -0.294 0.000 -2.221 -0.00° +chair 0.535 1.132 0.687 1.145 -0.001 -1.116 -12.52° +chair 0.651 1.035 0.773 1.052 0.001 -1.062 0.07° +chair 0.396 1.095 0.230 0.540 -0.005 1.292 90.51° +chair 0.337 0.960 0.608 1.232 -0.015 1.274 179.79° +table 0.400 0.741 0.442 1.163 0.002 0.247 0.17° +table 1.200 0.841 0.079 0.633 0.004 2.062 179.56° +lamp 0.426 0.705 0.441 -0.212 2.061 -0.891 -0.10° +floor 4.176 -0.000 5.471 -0.618 -0.003 -0.574 -0.11° +_scene_ 0.068 -0.000 0.021 -5.672 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.285, -0.000, 0.638] + !! OVERLAP: table <-> floor depth=[0.386, -0.000, 0.418] + !! OVERLAP: tv_stand <-> floor depth=[1.284, -0.000, 0.267] + !! OVERLAP: chair <-> chair depth=[0.500, 1.035, 0.676] + !! OVERLAP: chair <-> floor depth=[0.535, -0.000, 0.687] + !! OVERLAP: chair <-> floor depth=[0.651, -0.000, 0.773] + !! OVERLAP: chair <-> floor depth=[0.396, -0.000, 0.230] + !! OVERLAP: chair <-> floor depth=[0.337, -0.000, 0.608] + !! OVERLAP: table <-> floor depth=[0.400, -0.000, 0.442] + !! OVERLAP: table <-> floor depth=[1.200, -0.000, 0.079] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-109935 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4003 (Center Penalty: 0.4073, C1 Heatmap: 0.5351, C2 Repulsion: 2.8245), Relational Loss: 0.0308 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.593 0.674 0.641 -1.983 0.008 0.699 90.01° +chair 0.651 0.827 0.695 -2.136 -0.000 2.386 89.94° +table 1.069 0.267 0.716 -0.498 -0.012 1.863 -91.04° +chair 0.608 0.565 0.613 -0.900 -0.002 0.161 0.05° +tv_stand 1.434 0.462 0.298 0.610 0.002 1.643 -90.06° +table 0.994 0.962 -0.222 -0.280 -0.040 -1.150 -93.78° +chair 0.340 0.779 0.272 -0.965 -0.006 -2.229 0.21° +chair 0.278 0.814 0.333 -0.615 -0.006 -1.705 0.23° +chair 0.366 0.850 0.369 0.248 0.002 -1.998 -90.04° +chair 0.419 0.788 0.456 0.752 -0.001 -1.202 -179.95° +lamp 0.521 0.776 0.441 -0.293 1.835 1.244 0.02° +lamp 0.868 0.656 0.237 -0.397 2.088 -1.797 -0.01° +floor 4.659 -0.013 5.888 -0.914 -0.003 0.573 0.10° +_scene_ 0.067 0.002 0.021 -5.670 -0.005 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.018, 0.565, 0.090] + !! OVERLAP: sofa <-> floor depth=[1.593, -0.013, 0.641] + !! OVERLAP: chair <-> floor depth=[0.651, -0.013, 0.695] + !! OVERLAP: table <-> tv_stand depth=[0.143, 0.267, 0.287] + !! OVERLAP: table <-> floor depth=[1.069, -0.013, 0.716] + !! OVERLAP: chair <-> floor depth=[0.608, -0.013, 0.613] + !! OVERLAP: tv_stand <-> floor depth=[1.434, -0.013, 0.298] + !! OVERLAP: table <-> floor depth=[0.994, -0.013, -0.222] + !! OVERLAP: chair <-> floor depth=[0.340, -0.013, 0.272] + !! OVERLAP: chair <-> floor depth=[0.278, -0.013, 0.333] + !! OVERLAP: chair <-> floor depth=[0.366, -0.013, 0.369] + !! OVERLAP: chair <-> floor depth=[0.419, -0.013, 0.456] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-76396 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0159, Walkable Loss: 1.9075 (Center Penalty: 0.2042, C1 Heatmap: 0.7608, C2 Repulsion: 5.4731), Relational Loss: 0.0156 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.652 0.892 0.578 -2.296 0.006 1.860 -179.91° +sofa 1.494 0.939 0.898 -3.795 -0.006 0.433 90.10° +table 0.650 0.443 0.495 -2.370 0.003 0.520 0.01° +tv_stand 2.176 0.658 0.401 -2.005 0.000 -1.656 -0.02° +chair 0.712 0.911 0.721 -0.762 -0.006 0.828 -71.81° +table 0.946 0.703 0.294 1.764 0.012 0.518 0.83° +chair 0.469 0.795 0.534 2.931 -0.000 1.007 -90.15° +chair 0.375 0.794 0.482 2.415 0.004 1.208 179.68° +chair 0.462 0.739 0.453 2.626 -0.000 -0.127 -0.02° +chair 0.389 0.782 0.551 2.913 0.015 -0.090 -89.76° +table 1.111 1.488 0.227 1.092 0.016 -1.472 0.15° +cabinet 1.368 1.987 0.252 1.522 0.000 2.324 179.92° +table 0.508 0.432 0.510 -0.398 0.000 2.169 89.84° +table 0.462 0.424 0.475 -3.679 0.010 2.335 -179.73° +lamp 0.631 0.501 0.646 -1.614 2.736 0.273 -0.01° +lamp 0.576 0.955 0.594 1.602 2.028 0.348 0.03° +table 1.250 1.396 0.073 2.638 -0.004 -2.364 0.05° +floor 8.240 -0.005 5.945 -0.873 -0.000 0.572 -0.02° +_scene_ 0.075 0.000 0.023 -5.673 -0.005 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.652, -0.005, 0.578] + !! OVERLAP: sofa <-> floor depth=[1.494, -0.005, 0.898] + !! OVERLAP: table <-> floor depth=[0.650, -0.005, 0.495] + !! OVERLAP: tv_stand <-> floor depth=[2.176, -0.005, 0.401] + !! OVERLAP: chair <-> floor depth=[0.712, -0.005, 0.721] + !! OVERLAP: table <-> floor depth=[0.946, -0.005, 0.294] + !! OVERLAP: chair <-> floor depth=[0.469, -0.005, 0.534] + !! OVERLAP: chair <-> floor depth=[0.375, -0.005, 0.482] + !! OVERLAP: chair <-> chair depth=[0.138, 0.739, 0.453] + !! OVERLAP: chair <-> floor depth=[0.462, -0.005, 0.453] + !! OVERLAP: chair <-> floor depth=[0.389, -0.005, 0.551] + !! OVERLAP: table <-> floor depth=[1.111, -0.005, 0.227] + !! OVERLAP: cabinet <-> floor depth=[1.368, -0.005, 0.252] + !! OVERLAP: table <-> floor depth=[0.508, -0.005, 0.510] + !! OVERLAP: table <-> floor depth=[0.462, -0.005, 0.475] + !! OVERLAP: table <-> floor depth=[1.234, -0.005, 0.073] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-18728 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1022, Walkable Loss: 1.6368 (Center Penalty: 0.4601, C1 Heatmap: 0.6082, C2 Repulsion: 3.4508), Relational Loss: 0.0210 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.185 1.071 0.281 -1.530 -0.005 -2.717 0.19° +table 0.991 0.795 0.244 1.587 0.005 -1.976 -90.06° +tv_stand 1.817 0.446 0.374 1.184 0.000 1.670 -90.05° +sofa 2.014 0.753 0.741 -1.751 0.002 2.470 90.07° +chair 0.667 0.682 0.671 -2.156 -0.014 2.770 130.10° +table 1.195 0.797 -0.374 -0.019 0.036 -1.554 -91.22° +chair 0.350 0.752 0.385 0.657 0.003 -1.693 0.03° +chair 0.373 0.714 0.366 -0.215 0.000 -1.772 0.01° +chair 0.473 0.727 0.455 -0.741 -0.004 -0.795 -179.98° +chair 0.335 0.708 0.296 0.445 -0.001 -0.924 179.53° +table 1.247 0.425 0.754 -0.258 -0.000 2.639 -91.36° +lamp 0.494 0.584 0.470 -0.275 2.126 1.770 -90.13° +lamp 1.225 0.555 0.131 -0.079 2.166 -1.459 -0.22° +floor 5.101 -0.007 7.037 -0.426 0.001 0.763 -0.09° +_scene_ 0.067 0.000 0.017 -5.670 -0.005 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.185, -0.007, 0.179] + !! OVERLAP: table <-> floor depth=[0.991, -0.007, 0.244] + !! OVERLAP: tv_stand <-> floor depth=[1.817, -0.007, 0.374] + !! OVERLAP: sofa <-> chair depth=[0.667, 0.682, 0.407] + !! OVERLAP: sofa <-> table depth=[0.137, 0.425, 0.579] + !! OVERLAP: sofa <-> floor depth=[2.014, -0.007, 0.741] + !! OVERLAP: chair <-> floor depth=[0.667, -0.007, 0.671] + !! OVERLAP: table <-> floor depth=[1.195, -0.007, -0.374] + !! OVERLAP: chair <-> floor depth=[0.350, -0.007, 0.385] + !! OVERLAP: chair <-> floor depth=[0.373, -0.007, 0.366] + !! OVERLAP: chair <-> floor depth=[0.473, -0.007, 0.455] + !! OVERLAP: chair <-> floor depth=[0.335, -0.007, 0.296] + !! OVERLAP: table <-> floor depth=[1.247, -0.007, 0.754] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-46747 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6449 (Center Penalty: 0.4156, C1 Heatmap: 0.4821, C2 Repulsion: 4.2177), Relational Loss: 0.0231 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.375 0.696 0.314 -1.371 -0.006 1.854 90.35° +chair 0.532 0.944 0.632 -0.091 0.001 3.303 -179.91° +table 1.270 0.460 0.728 0.086 -0.005 1.974 90.12° +table 0.925 0.672 0.374 -0.908 0.079 -1.460 3.33° +chair 0.278 0.904 0.382 -0.224 0.002 -1.083 -179.94° +chair 0.320 0.935 0.384 0.560 -0.000 -0.958 179.96° +chair 0.377 0.898 0.449 -0.209 -0.001 -2.286 -0.02° +chair 0.413 0.921 0.497 0.616 0.001 -2.390 0.03° +table 1.498 0.818 0.482 0.007 0.000 -3.340 -0.03° +lamp 0.989 0.978 1.004 -0.305 1.798 2.111 0.01° +lamp 1.333 0.924 0.490 -0.046 1.787 -1.702 0.01° +lamp 0.878 0.783 0.532 0.226 2.109 -1.924 -0.04° +chair 0.493 0.539 0.480 -0.573 -0.005 0.823 21.12° +table 0.759 1.063 0.300 -1.670 0.003 0.628 89.96° +table 0.709 0.944 0.410 -1.822 0.003 3.330 89.97° +floor 3.885 -0.002 8.171 -0.992 -0.003 0.398 0.02° +_scene_ 0.073 0.000 0.026 -5.667 -0.004 -5.708 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.375, -0.002, 0.314] + !! OVERLAP: chair <-> floor depth=[0.532, -0.002, 0.632] + !! OVERLAP: table <-> floor depth=[1.270, -0.002, 0.728] + !! OVERLAP: table <-> floor depth=[0.925, -0.002, 0.374] + !! OVERLAP: chair <-> floor depth=[0.278, -0.002, 0.382] + !! OVERLAP: chair <-> floor depth=[0.320, -0.002, 0.384] + !! OVERLAP: chair <-> floor depth=[0.377, -0.002, 0.449] + !! OVERLAP: chair <-> floor depth=[0.413, -0.002, 0.497] + !! OVERLAP: table <-> floor depth=[1.498, -0.002, 0.482] + !! OVERLAP: lamp <-> lamp depth=[0.833, 0.531, 0.290] + !! OVERLAP: chair <-> floor depth=[0.493, -0.002, 0.480] + !! OVERLAP: table <-> floor depth=[0.759, -0.002, 0.300] + !! OVERLAP: table <-> floor depth=[0.709, -0.002, 0.410] +============================================================ + + +============================================================ +SCENE: LivingRoom-88425 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0416, Walkable Loss: 1.6058 (Center Penalty: 0.3096, C1 Heatmap: 0.5478, C2 Repulsion: 4.2897), Relational Loss: 0.0249 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.501 0.766 0.563 -1.843 0.001 1.478 90.22° +chair 1.064 0.834 0.458 -0.695 0.007 0.603 25.75° +sofa 1.934 0.854 0.744 -0.428 -0.002 3.629 179.77° +table 0.356 0.394 0.375 -0.568 0.000 1.999 90.02° +table 0.483 0.491 0.445 -1.863 0.002 -0.018 90.05° +table 0.494 0.523 0.311 -1.873 0.003 3.455 89.94° +table 1.978 0.897 -0.487 -1.818 -0.111 -2.077 -2.30° +chair 0.372 0.695 0.411 -0.560 0.001 -2.729 0.13° +chair 0.415 0.707 0.360 -0.604 -0.002 -1.125 179.99° +chair 0.399 0.684 0.394 0.144 -0.008 -1.624 179.94° +chair 0.386 0.755 0.383 -1.274 -0.002 -1.519 179.84° +chair 0.372 0.619 0.414 -1.369 -0.002 -2.573 0.05° +chair 0.462 0.654 0.506 0.429 -0.001 -2.471 -90.11° +lamp 1.072 0.788 0.587 -0.843 1.927 1.615 0.04° +lamp 0.853 0.748 0.858 -0.460 1.989 -2.318 -0.01° +table 0.861 1.577 0.276 -0.213 -0.008 -3.535 0.06° +tv_stand 1.192 0.383 0.217 1.063 0.003 1.799 -90.06° +floor 5.401 0.011 8.294 -1.083 -0.008 0.303 -0.03° +_scene_ 0.056 0.001 0.036 -5.677 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.501, 0.011, 0.563] + !! OVERLAP: chair <-> floor depth=[1.064, 0.011, 0.458] + !! OVERLAP: sofa <-> floor depth=[1.934, 0.011, 0.744] + !! OVERLAP: table <-> floor depth=[0.356, 0.011, 0.375] + !! OVERLAP: table <-> floor depth=[0.483, 0.011, 0.445] + !! OVERLAP: table <-> floor depth=[0.494, 0.011, 0.311] + !! OVERLAP: table <-> floor depth=[1.978, 0.011, -0.487] + !! OVERLAP: chair <-> floor depth=[0.372, 0.011, 0.411] + !! OVERLAP: chair <-> floor depth=[0.415, 0.011, 0.360] + !! OVERLAP: chair <-> floor depth=[0.399, 0.011, 0.394] + !! OVERLAP: chair <-> floor depth=[0.386, 0.011, 0.383] + !! OVERLAP: chair <-> floor depth=[0.372, 0.011, 0.414] + !! OVERLAP: chair <-> floor depth=[0.462, 0.011, 0.506] + !! OVERLAP: table <-> floor depth=[0.861, 0.011, 0.276] + !! OVERLAP: tv_stand <-> floor depth=[1.150, 0.011, 0.217] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-35769 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0595, Walkable Loss: 1.5810 (Center Penalty: 0.2330, C1 Heatmap: 0.3907, C2 Repulsion: 5.1774), Relational Loss: 0.0242 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.577 0.731 0.884 3.238 -0.002 0.539 179.90° +chair 0.713 0.987 0.873 5.048 0.002 -0.745 -90.18° +chair 0.665 1.136 0.690 1.279 -0.004 -0.744 124.14° +table 1.210 0.432 0.889 3.193 0.003 -1.357 0.00° +table 0.589 0.492 0.616 4.872 -0.005 0.985 -179.76° +table 0.574 0.577 0.503 1.417 -0.000 0.949 -179.93° +table 1.388 0.680 0.495 -3.108 -0.004 -0.181 0.29° +chair 0.347 0.853 0.381 -3.858 0.001 0.416 -0.04° +chair 0.339 0.957 0.377 -3.285 0.005 0.647 -0.08° +chair 0.449 0.898 0.432 -3.827 0.002 1.612 -179.91° +chair 0.478 0.893 0.449 -2.989 0.001 1.817 179.98° +chair 0.370 0.911 0.414 -2.361 0.004 1.143 -89.89° +chair 0.494 0.814 0.453 -4.611 0.003 0.865 89.99° +cabinet 0.850 1.368 0.241 -1.073 0.003 2.064 -179.89° +table 0.282 2.230 0.083 -4.568 -0.056 0.790 90.93° +lamp 0.729 0.834 0.745 2.969 1.962 -1.020 0.01° +lamp 1.075 1.027 1.186 -3.902 1.954 1.158 -0.02° +floor 10.599 -0.014 5.983 0.501 -0.002 -0.716 -0.01° +_scene_ 0.072 -0.000 0.026 -5.674 -0.004 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.577, -0.014, 0.884] + !! OVERLAP: chair <-> floor depth=[0.713, -0.014, 0.873] + !! OVERLAP: chair <-> floor depth=[0.665, -0.014, 0.690] + !! OVERLAP: table <-> floor depth=[1.210, -0.014, 0.889] + !! OVERLAP: table <-> floor depth=[0.589, -0.014, 0.616] + !! OVERLAP: table <-> floor depth=[0.574, -0.014, 0.503] + !! OVERLAP: table <-> floor depth=[1.388, -0.014, 0.495] + !! OVERLAP: chair <-> floor depth=[0.347, -0.014, 0.381] + !! OVERLAP: chair <-> floor depth=[0.339, -0.014, 0.377] + !! OVERLAP: chair <-> floor depth=[0.449, -0.014, 0.432] + !! OVERLAP: chair <-> floor depth=[0.478, -0.014, 0.449] + !! OVERLAP: chair <-> floor depth=[0.370, -0.014, 0.414] + !! OVERLAP: chair <-> table depth=[0.282, 0.814, 0.083] + !! OVERLAP: chair <-> floor depth=[0.435, -0.014, 0.453] + !! OVERLAP: cabinet <-> floor depth=[0.850, -0.014, 0.241] + !! OVERLAP: table <-> floor depth=[0.282, -0.014, 0.083] +============================================================ + + +============================================================ +SCENE: LivingRoom-1097 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0136, Walkable Loss: 1.7758 (Center Penalty: 0.1914, C1 Heatmap: 0.7863, C2 Repulsion: 4.7770), Relational Loss: 0.0208 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.573 1.134 0.243 0.870 0.004 -0.773 -90.09° +sofa 2.153 0.770 0.424 -1.471 0.019 -0.187 0.48° +table 0.466 0.637 0.491 -0.885 -0.002 -2.741 0.87° +tv_stand 1.967 0.514 0.331 -0.773 -0.001 2.466 -180.00° +table 1.055 0.726 0.761 -1.135 -0.001 0.960 0.22° +chair 0.731 0.867 0.871 1.017 0.000 1.101 -132.98° +chair 0.413 0.929 0.441 -1.508 -0.003 -3.513 -0.18° +chair 0.434 0.920 0.507 -0.759 -0.001 -3.566 -0.12° +chair 0.409 0.932 0.419 -0.720 0.003 -1.851 179.92° +chair 0.418 0.936 0.497 -1.458 -0.004 -1.955 179.93° +table 0.527 1.323 0.286 0.437 0.005 2.548 0.14° +table 0.598 1.256 0.348 -2.770 0.003 2.538 89.85° +cabinet 1.556 0.711 0.262 -2.590 0.001 -2.109 90.08° +lamp 0.863 0.881 0.591 -1.047 1.847 1.226 0.01° +cabinet 0.664 1.171 0.402 1.667 0.019 -2.174 -90.33° +chair 0.331 0.400 0.383 1.581 0.003 -1.226 -89.79° +lamp 0.614 1.002 0.622 -1.131 1.634 -2.642 -0.06° +floor 5.962 -0.008 6.979 -0.996 -0.003 -0.503 -0.01° +_scene_ 0.069 0.000 0.024 -5.670 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.573, -0.008, 0.243] + !! OVERLAP: sofa <-> floor depth=[2.153, -0.008, 0.424] + !! OVERLAP: table <-> floor depth=[0.466, -0.008, 0.491] + !! OVERLAP: tv_stand <-> table depth=[0.037, 0.514, 0.227] + !! OVERLAP: tv_stand <-> floor depth=[1.967, -0.008, 0.331] + !! OVERLAP: table <-> floor depth=[1.055, -0.008, 0.761] + !! OVERLAP: chair <-> floor depth=[0.731, -0.008, 0.871] + !! OVERLAP: chair <-> floor depth=[0.413, -0.008, 0.441] + !! OVERLAP: chair <-> floor depth=[0.434, -0.008, 0.507] + !! OVERLAP: chair <-> floor depth=[0.409, -0.008, 0.419] + !! OVERLAP: chair <-> floor depth=[0.418, -0.008, 0.497] + !! OVERLAP: table <-> floor depth=[0.527, -0.008, 0.286] + !! OVERLAP: table <-> floor depth=[0.598, -0.008, 0.348] + !! OVERLAP: cabinet <-> floor depth=[1.556, -0.008, 0.262] + !! OVERLAP: cabinet <-> floor depth=[0.651, -0.008, 0.402] + !! OVERLAP: chair <-> floor depth=[0.331, -0.008, 0.383] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2729 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1468 (Center Penalty: 0.2885, C1 Heatmap: 0.7584, C2 Repulsion: 6.2578), Relational Loss: 0.0283 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.864 0.718 0.413 -2.485 0.013 0.063 0.59° +lamp 0.355 0.848 0.356 -1.932 1.744 -0.794 0.06° +chair 0.498 0.886 0.656 -1.323 0.001 -0.665 -89.78° +chair 0.554 0.968 0.587 -1.410 0.000 -1.591 0.08° +chair 0.535 0.981 0.538 -1.354 -0.002 0.357 -179.84° +chair 0.418 0.928 0.417 -2.531 -0.005 -0.553 -179.62° +chair 0.529 0.879 0.546 -3.251 0.004 -0.832 89.78° +chair 0.518 0.876 0.535 -2.693 0.001 -1.827 -0.05° +table 0.648 0.487 0.765 1.766 0.001 -0.553 0.06° +tv_stand 2.038 1.104 0.324 1.579 0.003 0.771 -179.92° +sofa 2.119 0.907 0.704 1.023 -0.004 -2.265 -0.10° +chair 0.587 1.106 0.725 2.771 -0.001 -1.270 -60.24° +chair 0.357 0.369 0.327 0.241 0.006 -1.315 89.92° +chair 0.451 0.407 0.384 0.448 0.003 -0.779 0.05° +lamp 0.400 0.760 0.305 1.726 1.933 -0.552 0.04° +cabinet 0.575 0.723 0.334 -2.999 0.002 1.286 179.96° +floor 7.841 0.027 5.484 -0.620 0.006 -1.212 -0.59° +_scene_ 0.071 0.002 0.020 -5.670 -0.004 -5.713 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.864, 0.027, 0.413] + !! OVERLAP: chair <-> floor depth=[0.498, 0.027, 0.656] + !! OVERLAP: chair <-> floor depth=[0.554, 0.027, 0.587] + !! OVERLAP: chair <-> floor depth=[0.535, 0.027, 0.538] + !! OVERLAP: chair <-> floor depth=[0.418, 0.027, 0.417] + !! OVERLAP: chair <-> floor depth=[0.529, 0.027, 0.546] + !! OVERLAP: chair <-> floor depth=[0.518, 0.027, 0.535] + !! OVERLAP: table <-> floor depth=[0.648, 0.027, 0.765] + !! OVERLAP: tv_stand <-> floor depth=[2.038, 0.027, 0.324] + !! OVERLAP: sofa <-> floor depth=[2.119, 0.027, 0.704] + !! OVERLAP: chair <-> floor depth=[0.587, 0.027, 0.725] + !! OVERLAP: chair <-> floor depth=[0.357, 0.027, 0.327] + !! OVERLAP: chair <-> floor depth=[0.451, 0.027, 0.384] + !! OVERLAP: cabinet <-> floor depth=[0.575, 0.027, 0.334] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19784 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4043 (Center Penalty: 0.1695, C1 Heatmap: 0.6515, C2 Repulsion: 3.5681), Relational Loss: 0.0235 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.021 0.817 0.728 1.511 0.001 -2.079 -90.35° +chair 0.738 1.065 0.754 0.135 -0.002 -3.737 0.03° +table 1.114 0.443 0.930 0.643 0.003 -1.488 90.08° +table 0.338 1.266 0.379 2.298 -0.005 -3.304 -90.40° +tv_stand 1.599 0.626 0.400 -1.068 0.002 -1.560 89.95° +table 0.631 0.808 0.775 0.841 -0.001 1.289 -89.65° +chair 0.461 1.043 0.546 -0.146 0.001 1.249 89.94° +chair 0.481 1.088 0.579 -0.109 -0.000 2.152 90.01° +chair 0.418 1.110 0.535 1.886 0.002 1.234 -90.31° +chair 0.399 0.994 0.467 1.878 0.000 2.151 -90.19° +lamp 1.041 1.376 1.053 0.234 1.870 -1.438 -0.02° +lamp 0.888 0.966 0.849 0.986 1.664 1.759 -0.05° +floor 4.867 -0.007 7.554 0.545 0.003 -0.930 -0.07° +_scene_ 0.069 0.001 0.024 -5.670 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.699, 0.443, 0.238] + !! OVERLAP: sofa <-> floor depth=[2.021, -0.007, 0.728] + !! OVERLAP: chair <-> floor depth=[0.738, -0.007, 0.754] + !! OVERLAP: table <-> floor depth=[1.114, -0.007, 0.930] + !! OVERLAP: table <-> floor depth=[0.338, -0.007, 0.379] + !! OVERLAP: tv_stand <-> floor depth=[1.599, -0.007, 0.400] + !! OVERLAP: table <-> floor depth=[0.631, -0.007, 0.775] + !! OVERLAP: chair <-> floor depth=[0.461, -0.007, 0.546] + !! OVERLAP: chair <-> floor depth=[0.481, -0.007, 0.579] + !! OVERLAP: chair <-> floor depth=[0.418, -0.007, 0.535] + !! OVERLAP: chair <-> floor depth=[0.399, -0.007, 0.467] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10493 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2729 (Center Penalty: 0.0589, C1 Heatmap: 0.5435, C2 Repulsion: 3.8964), Relational Loss: 0.0134 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.644 1.014 0.642 -1.339 1.841 -2.360 -0.03° +table 0.778 0.929 0.348 0.700 -0.029 -1.716 -177.08° +chair 0.487 0.744 0.545 1.514 -0.006 -2.830 0.10° +chair 0.564 0.721 0.563 0.584 0.000 -2.991 0.08° +chair 0.450 0.785 0.538 1.591 0.001 -1.103 179.96° +chair 0.450 0.782 0.518 0.603 0.003 -1.369 179.73° +lamp 1.018 0.879 1.007 -1.759 1.865 1.599 179.89° +table 0.507 0.590 0.423 -3.143 0.002 -0.026 90.06° +table 0.584 0.498 0.503 -3.239 0.005 3.639 89.97° +table 0.984 0.426 0.867 -1.770 -0.001 1.664 89.99° +tv_stand 1.290 0.579 0.328 -0.114 0.003 2.040 -90.27° +sofa 1.961 0.924 0.706 -3.221 0.001 1.650 89.91° +chair 0.710 1.034 0.822 -1.602 0.001 3.380 179.72° +table 0.974 0.654 0.516 -1.423 -0.000 0.139 179.91° +floor 6.318 -0.017 8.255 -1.328 0.001 0.090 0.05° +_scene_ 0.068 0.000 0.018 -5.672 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.450, 0.782, 0.086] + !! OVERLAP: table <-> floor depth=[0.778, -0.017, 0.348] + !! OVERLAP: chair <-> floor depth=[0.487, -0.017, 0.545] + !! OVERLAP: chair <-> floor depth=[0.564, -0.017, 0.563] + !! OVERLAP: chair <-> floor depth=[0.450, -0.017, 0.538] + !! OVERLAP: chair <-> floor depth=[0.450, -0.017, 0.518] + !! OVERLAP: table <-> floor depth=[0.507, -0.017, 0.423] + !! OVERLAP: table <-> floor depth=[0.584, -0.017, 0.503] + !! OVERLAP: table <-> sofa depth=[0.022, 0.426, 0.706] + !! OVERLAP: table <-> floor depth=[0.984, -0.017, 0.867] + !! OVERLAP: tv_stand <-> floor depth=[1.290, -0.017, 0.328] + !! OVERLAP: sofa <-> floor depth=[1.961, -0.017, 0.706] + !! OVERLAP: chair <-> floor depth=[0.710, -0.017, 0.822] + !! OVERLAP: table <-> floor depth=[0.974, -0.017, 0.516] +============================================================ + + +============================================================ +SCENE: LivingRoom-23405 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6801 (Center Penalty: 1.1385, C1 Heatmap: 0.2274, C2 Repulsion: 1.7985), Relational Loss: 0.0283 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.536 0.777 0.253 -1.149 0.058 0.281 90.27° +chair 0.411 0.928 0.424 -1.886 -0.000 0.312 89.96° +chair 0.330 0.924 0.395 -1.802 0.001 -0.373 89.80° +chair 0.478 0.967 0.510 -0.729 0.001 0.339 -89.85° +chair 0.364 0.903 0.426 -0.895 -0.006 -0.569 -89.99° +table 1.032 0.777 0.374 1.300 -0.001 0.307 -90.50° +cabinet 0.744 1.430 0.432 1.482 0.005 -1.316 0.05° +lamp 0.463 0.440 0.482 -0.496 2.132 -0.418 -0.06° +floor 5.193 0.018 2.942 -0.170 0.019 -0.832 -0.76° +_scene_ 0.066 0.000 0.019 -5.672 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.087, 0.777, 0.253] + !! OVERLAP: table <-> floor depth=[0.536, 0.018, 0.253] + !! OVERLAP: chair <-> floor depth=[0.411, 0.018, 0.424] + !! OVERLAP: chair <-> floor depth=[0.330, 0.018, 0.395] + !! OVERLAP: chair <-> floor depth=[0.478, 0.018, 0.510] + !! OVERLAP: chair <-> floor depth=[0.364, 0.018, 0.426] + !! OVERLAP: table <-> floor depth=[1.032, 0.018, 0.374] + !! OVERLAP: cabinet <-> floor depth=[0.744, 0.018, 0.432] +============================================================ + + +============================================================ +SCENE: LivingRoom-3797 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1584, Walkable Loss: 1.5673 (Center Penalty: 0.3127, C1 Heatmap: 0.5081, C2 Repulsion: 4.2404), Relational Loss: 0.0239 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.532 0.785 0.601 1.824 -0.006 1.493 -90.17° +table 0.736 0.346 0.646 0.081 -0.004 1.560 -89.99° +table 0.993 0.775 0.250 1.415 -0.013 -0.542 -0.33° +chair 0.439 0.807 0.443 1.068 0.001 0.018 179.95° +chair 0.300 0.819 0.375 1.915 0.002 -0.141 179.88° +chair 0.405 0.824 0.363 1.100 -0.000 -1.357 0.12° +chair 0.373 0.796 0.409 1.834 -0.002 -1.256 -0.04° +tv_stand 1.835 0.660 0.317 -0.843 0.009 1.556 90.05° +cabinet 0.986 1.114 0.125 -0.532 0.001 -1.453 -0.05° +lamp 0.463 0.340 0.444 0.018 2.271 1.611 0.01° +lamp 0.185 1.240 0.147 1.448 1.549 -0.759 -0.03° +floor 4.230 0.007 5.016 0.316 0.003 0.887 0.03° +_scene_ 0.065 -0.000 0.014 -5.670 -0.005 -5.717 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.373, 0.007, 0.601] + !! OVERLAP: table <-> tv_stand depth=[0.361, 0.346, 0.317] + !! OVERLAP: table <-> floor depth=[0.736, 0.007, 0.646] + !! OVERLAP: table <-> floor depth=[0.993, 0.007, 0.250] + !! OVERLAP: chair <-> floor depth=[0.439, 0.007, 0.443] + !! OVERLAP: chair <-> floor depth=[0.300, 0.007, 0.375] + !! OVERLAP: chair <-> floor depth=[0.405, 0.007, 0.363] + !! OVERLAP: chair <-> floor depth=[0.373, 0.007, 0.409] + !! OVERLAP: tv_stand <-> floor depth=[1.835, 0.007, 0.317] + !! OVERLAP: cabinet <-> floor depth=[0.986, 0.007, 0.125] +============================================================ + + +============================================================ +SCENE: LivingRoom-50084 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1935, Walkable Loss: 1.2164 (Center Penalty: 0.2297, C1 Heatmap: 0.5423, C2 Repulsion: 2.7643), Relational Loss: 0.0117 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.620 0.783 0.668 -0.467 0.008 3.295 149.87° +chair 0.878 0.320 0.381 -1.149 -0.001 0.159 -0.01° +table 0.467 0.425 0.479 -0.428 0.002 1.985 -90.02° +table 0.893 0.597 0.571 1.016 0.006 0.628 0.03° +table 0.570 0.580 0.574 0.785 0.000 2.916 -95.85° +tv_stand 2.066 0.796 0.393 -1.743 0.005 1.989 89.91° +cabinet 0.997 1.024 0.349 2.253 0.001 -1.196 -90.05° +lamp 1.127 0.509 0.319 -0.204 2.046 1.436 0.04° +lamp 0.498 0.284 0.410 2.300 2.106 -1.917 -0.20° +sofa 1.716 0.865 0.427 0.937 -0.003 1.904 179.66° +floor 5.465 -0.015 6.422 0.148 -0.001 1.090 -0.02° +_scene_ 0.070 0.001 0.020 -5.670 -0.003 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.620, -0.015, 0.668] + !! OVERLAP: chair <-> floor depth=[0.878, -0.015, 0.381] + !! OVERLAP: table <-> floor depth=[0.467, -0.015, 0.479] + !! OVERLAP: table <-> floor depth=[0.893, -0.015, 0.571] + !! OVERLAP: table <-> floor depth=[0.570, -0.015, 0.574] + !! OVERLAP: tv_stand <-> floor depth=[1.874, -0.015, 0.393] + !! OVERLAP: cabinet <-> floor depth=[0.997, -0.015, 0.349] + !! OVERLAP: sofa <-> floor depth=[1.716, -0.015, 0.427] +============================================================ + + +============================================================ +SCENE: LivingRoom-1772 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3045 (Center Penalty: 0.2942, C1 Heatmap: 0.4906, C2 Repulsion: 3.0888), Relational Loss: 0.0254 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.281 0.682 -0.123 2.197 -0.042 0.542 177.98° +table 1.126 0.479 0.673 2.385 0.003 0.325 -0.15° +chair 0.377 0.500 0.470 1.218 0.001 -0.055 -0.07° +bookshelf 3.003 2.531 0.048 -1.442 -0.006 1.313 -179.53° +table 0.543 0.817 0.228 -1.419 0.000 -0.946 -62.16° +chair 0.474 0.939 0.526 -2.253 -0.000 -1.651 0.05° +chair 0.432 0.893 0.488 -1.972 -0.004 -0.416 -179.95° +chair 0.382 0.892 0.458 -0.309 -0.003 -1.300 -90.18° +chair 0.443 0.964 0.410 -0.886 0.004 -0.411 -90.36° +lamp 0.610 0.742 0.645 1.911 1.947 -0.264 -0.01° +lamp 0.198 1.001 0.134 -1.246 1.393 -1.947 -0.02° +lamp 0.190 0.867 0.162 -1.318 1.467 -1.430 -0.11° +lamp 0.309 0.906 0.301 -1.467 1.760 -0.518 -0.05° +floor 7.018 0.039 5.186 0.228 -0.015 -1.187 -0.15° +_scene_ 0.067 0.000 0.026 -5.669 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.015, 0.479, -0.123] + !! OVERLAP: sofa <-> floor depth=[1.281, 0.039, -0.123] + !! OVERLAP: table <-> floor depth=[1.126, 0.039, 0.673] + !! OVERLAP: chair <-> floor depth=[0.377, 0.039, 0.470] + !! OVERLAP: bookshelf <-> floor depth=[3.003, 0.039, 0.048] + !! OVERLAP: table <-> floor depth=[0.543, 0.039, 0.228] + !! OVERLAP: chair <-> floor depth=[0.474, 0.039, 0.526] + !! OVERLAP: chair <-> floor depth=[0.432, 0.039, 0.488] + !! OVERLAP: chair <-> floor depth=[0.382, 0.039, 0.458] + !! OVERLAP: chair <-> floor depth=[0.443, 0.039, 0.410] +============================================================ + + +============================================================ +SCENE: LivingRoom-30098 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0516, Walkable Loss: 1.3651 (Center Penalty: 0.4968, C1 Heatmap: 0.6027, C2 Repulsion: 1.9304), Relational Loss: 0.0181 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.566 0.802 0.662 -1.477 0.008 0.529 90.27° +chair 0.699 0.900 0.868 -0.252 0.003 3.112 169.61° +chair 0.702 1.041 0.686 -0.075 -0.001 -1.463 9.71° +table 0.479 0.367 0.477 -1.401 0.002 -1.268 -0.02° +table 0.473 0.542 0.479 -1.373 0.001 1.968 0.23° +table 0.774 0.456 0.879 0.202 -0.000 1.204 -0.05° +tv_stand 2.434 2.547 -0.014 1.394 0.003 0.604 -90.13° +cabinet 0.870 0.855 0.252 1.408 0.000 2.976 179.96° +lamp 0.482 0.843 0.469 0.077 1.849 0.976 -0.20° +floor 4.931 -0.002 7.074 0.095 0.001 0.806 -0.14° +_scene_ 0.074 0.001 0.025 -5.669 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.566, -0.002, 0.662] + !! OVERLAP: chair <-> floor depth=[0.699, -0.002, 0.868] + !! OVERLAP: chair <-> floor depth=[0.702, -0.002, 0.686] + !! OVERLAP: table <-> floor depth=[0.479, -0.002, 0.477] + !! OVERLAP: table <-> floor depth=[0.473, -0.002, 0.479] + !! OVERLAP: table <-> floor depth=[0.774, -0.002, 0.879] + !! OVERLAP: tv_stand <-> floor depth=[2.382, -0.002, -0.014] + !! OVERLAP: cabinet <-> floor depth=[0.870, -0.002, 0.252] +============================================================ + + +============================================================ +SCENE: LivingRoom-3540 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5953 (Center Penalty: 0.3302, C1 Heatmap: 0.6496, C2 Repulsion: 3.7271), Relational Loss: 0.0263 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.672 0.891 0.616 -1.482 0.003 -1.634 89.97° +chair 0.718 0.824 0.736 -0.205 -0.000 -3.196 1.49° +chair 0.905 0.424 0.334 0.666 -0.018 -0.653 90.39° +table 0.941 0.364 0.619 0.067 0.002 -1.776 -91.17° +table 0.526 0.619 0.496 -1.755 0.003 -3.341 89.83° +table 0.557 0.638 0.509 -1.510 -0.001 -0.028 -0.01° +tv_stand 1.757 0.400 0.155 1.299 0.005 -2.168 -90.68° +table 0.917 0.718 0.687 0.115 -0.024 2.393 179.58° +chair 0.405 0.577 0.414 0.890 0.000 1.240 -90.01° +chair 0.251 0.486 0.284 0.989 0.003 2.533 -90.00° +chair 0.399 0.600 0.361 -0.467 -0.002 1.184 0.03° +chair 0.377 0.564 0.329 -0.865 0.006 2.424 90.01° +table 1.130 0.958 0.495 -2.175 -0.004 2.763 89.99° +lamp 0.624 0.712 0.616 0.077 1.971 -1.832 -0.06° +lamp 0.505 0.887 0.441 0.244 1.678 2.311 -0.00° +floor 5.139 -0.017 8.888 -0.321 -0.000 -1.042 0.03° +_scene_ 0.065 -0.003 0.011 -5.671 -0.006 -5.716 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.672, -0.017, 0.616] + !! OVERLAP: chair <-> floor depth=[0.718, -0.017, 0.736] + !! OVERLAP: chair <-> floor depth=[0.905, -0.017, 0.334] + !! OVERLAP: table <-> floor depth=[0.941, -0.017, 0.619] + !! OVERLAP: table <-> floor depth=[0.526, -0.017, 0.496] + !! OVERLAP: table <-> floor depth=[0.557, -0.017, 0.509] + !! OVERLAP: tv_stand <-> floor depth=[1.757, -0.017, 0.155] + !! OVERLAP: table <-> floor depth=[0.917, -0.017, 0.687] + !! OVERLAP: chair <-> floor depth=[0.405, -0.017, 0.414] + !! OVERLAP: chair <-> floor depth=[0.251, -0.017, 0.284] + !! OVERLAP: chair <-> floor depth=[0.399, -0.017, 0.361] + !! OVERLAP: chair <-> floor depth=[0.377, -0.017, 0.329] + !! OVERLAP: table <-> floor depth=[1.130, -0.017, 0.495] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2583 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0550, Walkable Loss: 1.8345 (Center Penalty: 0.1631, C1 Heatmap: 0.5606, C2 Repulsion: 6.1143), Relational Loss: 0.0254 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.565 0.985 0.624 -1.850 -0.005 1.500 90.54° +table 1.078 0.382 0.694 -0.560 -0.006 1.591 0.08° +chair 0.723 0.943 0.727 -0.509 0.007 3.269 -179.89° +table 0.449 0.647 0.368 -2.045 0.001 -0.158 90.06° +table 0.381 0.567 0.452 -2.027 0.002 3.217 89.92° +tv_stand 1.271 0.551 0.246 0.377 0.007 1.671 -90.32° +chair 0.677 0.969 0.643 -0.975 -0.000 -0.554 0.24° +table 1.042 0.636 -0.082 -0.985 -0.016 -1.352 1.52° +chair 0.369 1.059 0.319 -1.011 0.003 -1.824 -179.85° +chair 0.368 0.994 0.402 -1.237 -0.003 -2.340 0.30° +chair 0.339 0.981 0.408 -0.502 -0.004 -2.454 0.16° +chair 0.308 1.044 0.374 -0.314 -0.001 -1.838 -179.87° +table 0.532 0.587 0.383 -1.305 -0.002 -2.906 -0.09° +table 0.665 1.263 0.212 0.740 0.006 -3.126 -90.42° +lamp 0.800 0.829 0.813 -0.717 1.855 -2.097 -0.02° +lamp 1.390 1.172 1.242 -0.898 1.725 1.686 0.05° +floor 4.303 0.005 7.081 -1.100 0.004 0.341 0.23° +_scene_ 0.071 -0.001 0.022 -5.672 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.031, 0.382, 0.568] + !! OVERLAP: sofa <-> floor depth=[1.565, 0.005, 0.624] + !! OVERLAP: table <-> tv_stand depth=[0.237, 0.382, 0.246] + !! OVERLAP: table <-> floor depth=[1.078, 0.005, 0.694] + !! OVERLAP: chair <-> floor depth=[0.723, 0.005, 0.727] + !! OVERLAP: table <-> floor depth=[0.449, 0.005, 0.368] + !! OVERLAP: table <-> floor depth=[0.381, 0.005, 0.452] + !! OVERLAP: tv_stand <-> floor depth=[1.271, 0.005, 0.246] + !! OVERLAP: chair <-> floor depth=[0.677, 0.005, 0.643] + !! OVERLAP: table <-> floor depth=[1.042, 0.005, -0.082] + !! OVERLAP: chair <-> floor depth=[0.369, 0.005, 0.319] + !! OVERLAP: chair <-> floor depth=[0.368, 0.005, 0.402] + !! OVERLAP: chair <-> floor depth=[0.339, 0.005, 0.408] + !! OVERLAP: chair <-> floor depth=[0.308, 0.005, 0.374] + !! OVERLAP: table <-> floor depth=[0.532, 0.005, 0.383] + !! OVERLAP: table <-> floor depth=[0.643, 0.005, 0.179] +============================================================ + + +============================================================ +SCENE: LivingRoom-68491 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0127, Walkable Loss: 1.5531 (Center Penalty: 0.4380, C1 Heatmap: 0.5164, C2 Repulsion: 3.5097), Relational Loss: 0.0318 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.628 0.888 0.582 -0.680 -0.005 -0.715 -75.14° +table 0.487 0.297 0.549 1.043 0.001 -0.650 -0.13° +sofa 1.579 0.801 0.590 0.889 -0.005 -1.840 -0.08° +chair 0.855 1.022 0.725 2.829 0.004 -0.192 -105.25° +table 0.480 0.524 0.513 2.573 0.001 -1.950 -0.06° +table 0.395 0.487 0.455 -0.330 -0.001 -1.874 -0.05° +lamp 0.685 0.868 0.709 1.071 1.901 -0.724 -0.07° +chair 0.447 1.085 0.518 -2.434 0.002 -1.930 0.24° +chair 0.410 0.993 0.554 -2.149 -0.001 -0.767 -90.93° +table 2.071 0.803 0.378 -3.351 -0.006 -1.124 89.68° +cabinet 0.962 0.745 0.280 -1.588 0.003 -1.804 0.04° +floor 7.682 -0.002 4.525 -0.597 0.000 -0.650 -0.06° +_scene_ 0.071 0.001 0.026 -5.670 -0.004 -5.713 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.628, -0.002, 0.582] + !! OVERLAP: table <-> floor depth=[0.487, -0.002, 0.549] + !! OVERLAP: sofa <-> floor depth=[1.579, -0.002, 0.590] + !! OVERLAP: chair <-> floor depth=[0.842, -0.002, 0.725] + !! OVERLAP: table <-> floor depth=[0.480, -0.002, 0.513] + !! OVERLAP: table <-> floor depth=[0.395, -0.002, 0.455] + !! OVERLAP: chair <-> floor depth=[0.447, -0.002, 0.518] + !! OVERLAP: chair <-> table depth=[0.038, 0.803, 0.110] + !! OVERLAP: chair <-> floor depth=[0.410, -0.002, 0.554] + !! OVERLAP: table <-> floor depth=[2.071, -0.002, 0.378] + !! OVERLAP: cabinet <-> floor depth=[0.962, -0.002, 0.280] +============================================================ + + +============================================================ +SCENE: LivingRoom-22102 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3221 (Center Penalty: 0.6010, C1 Heatmap: 0.5593, C2 Repulsion: 1.3684), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.158 0.381 0.482 0.623 0.003 0.585 89.78° +table 0.502 0.573 0.487 -1.286 0.000 -1.761 -0.08° +sofa 2.166 0.823 0.903 -1.551 0.003 -0.019 89.93° +chair 0.693 0.909 0.707 0.466 0.000 -1.211 -20.00° +tv_stand 1.267 0.716 0.319 1.642 0.002 0.512 -90.20° +lamp 0.329 0.577 0.261 0.829 2.045 0.747 0.07° +floor 5.416 -0.001 5.479 -0.384 -0.003 -0.751 -0.00° +_scene_ 0.063 0.001 0.020 -5.669 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.194, 0.381, 0.319] + !! OVERLAP: table <-> floor depth=[1.158, -0.001, 0.482] + !! OVERLAP: table <-> floor depth=[0.502, -0.001, 0.487] + !! OVERLAP: sofa <-> floor depth=[2.166, -0.001, 0.903] + !! OVERLAP: chair <-> floor depth=[0.693, -0.001, 0.707] + !! OVERLAP: tv_stand <-> floor depth=[1.267, -0.001, 0.319] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-2106 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1251, Walkable Loss: 0.8058 (Center Penalty: 0.1846, C1 Heatmap: 0.4994, C2 Repulsion: 1.1085), Relational Loss: 0.0272 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.664 0.791 0.522 -0.106 1.914 -1.920 -0.03° +tv_stand 1.475 0.413 0.239 -1.249 0.011 1.413 90.11° +sofa 1.911 0.830 0.856 1.271 -0.000 1.573 -89.98° +cabinet 1.110 0.969 0.369 1.515 0.001 -0.519 -89.93° +table 0.951 0.462 0.367 -0.112 0.002 1.768 90.18° +bookshelf 0.711 2.520 0.344 -1.441 -0.000 -0.747 89.80° +lamp 0.944 1.214 1.044 -0.121 1.662 1.453 0.06° +chair 0.474 1.074 0.351 0.168 0.007 -1.980 38.59° +floor 4.096 -0.002 6.616 0.187 0.001 0.946 -0.05° +_scene_ 0.071 0.000 0.020 -5.670 -0.004 -5.710 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.350, -0.002, 0.239] + !! OVERLAP: sofa <-> table depth=[0.048, 0.462, 0.367] + !! OVERLAP: sofa <-> floor depth=[1.911, -0.002, 0.856] + !! OVERLAP: cabinet <-> floor depth=[1.110, -0.002, 0.369] + !! OVERLAP: table <-> floor depth=[0.951, -0.002, 0.367] + !! OVERLAP: bookshelf <-> floor depth=[0.711, -0.002, 0.344] + !! OVERLAP: chair <-> floor depth=[0.474, -0.002, 0.351] +============================================================ + + +============================================================ +SCENE: LivingRoom-38721 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.4940, Walkable Loss: 1.5566 (Center Penalty: 0.7547, C1 Heatmap: 0.4290, C2 Repulsion: 2.2935), Relational Loss: 0.0149 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.081 0.944 1.061 -0.977 1.894 1.534 0.02° +tv_stand 1.281 0.460 0.294 0.847 -0.000 -1.135 -90.07° +table 0.730 0.494 0.652 -0.927 0.002 -1.281 90.03° +sofa 0.960 0.959 1.176 -1.024 -0.087 -1.150 92.47° +table 1.010 0.570 0.541 -0.450 0.006 1.491 179.93° +chair 0.437 0.748 0.404 -1.286 0.003 0.568 -0.00° +chair 0.455 0.753 0.434 -0.457 0.001 0.645 0.06° +lamp 0.321 0.349 0.339 -0.794 2.153 -1.148 -0.01° +floor 3.304 -0.009 5.513 -0.659 0.001 -0.206 0.24° +_scene_ 0.067 0.000 0.020 -5.671 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[0.787, -0.009, 0.294] + !! OVERLAP: table <-> sofa depth=[0.730, 0.494, 0.652] + !! OVERLAP: table <-> floor depth=[0.730, -0.009, 0.652] + !! OVERLAP: sofa <-> floor depth=[0.960, -0.009, 1.176] + !! OVERLAP: table <-> floor depth=[1.010, -0.009, 0.541] + !! OVERLAP: chair <-> floor depth=[0.437, -0.009, 0.404] + !! OVERLAP: chair <-> floor depth=[0.455, -0.009, 0.434] +============================================================ + + +============================================================ +SCENE: LivingRoom-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0391 (Center Penalty: 0.2860, C1 Heatmap: 0.5451, C2 Repulsion: 1.5848), Relational Loss: 0.0078 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.780 0.512 0.413 1.392 0.020 0.566 1.09° +table 0.422 0.673 0.319 1.668 -0.001 -0.129 -0.01° +sofa 2.434 1.080 0.493 0.822 -0.023 -1.142 -0.01° +chair 0.623 0.791 0.250 -1.678 -0.020 -0.062 67.76° +tv_stand 2.332 0.778 0.339 0.792 -0.001 1.917 179.93° +floor 4.820 -0.016 4.336 0.378 0.004 0.743 0.02° +_scene_ 0.041 -0.003 0.015 -5.642 -0.002 -5.683 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.780, -0.016, 0.413] + !! OVERLAP: table <-> floor depth=[0.422, -0.016, 0.319] + !! OVERLAP: sofa <-> floor depth=[2.434, -0.016, 0.493] + !! OVERLAP: chair <-> floor depth=[0.623, -0.016, 0.250] + !! OVERLAP: tv_stand <-> floor depth=[2.332, -0.016, 0.339] +============================================================ + + +============================================================ +SCENE: LivingRoom-1618 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5909 (Center Penalty: 0.8022, C1 Heatmap: 0.4169, C2 Repulsion: 2.2762), Relational Loss: 0.0273 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.614 0.738 0.633 -1.223 0.001 0.332 89.95° +table 1.055 1.124 0.296 -1.471 0.003 -1.691 90.06° +tv_stand 0.921 0.709 0.348 0.616 -0.011 0.937 -89.56° +table 1.673 0.876 0.488 -0.220 -0.009 2.879 0.32° +chair 0.214 0.955 0.302 0.163 0.004 2.135 -152.23° +chair 0.317 0.893 0.359 -0.435 -0.000 2.253 162.95° +lamp 0.456 0.928 0.473 -0.431 1.764 0.548 -0.27° +chair 0.420 0.353 0.482 -0.147 -0.002 -1.574 -90.71° +floor 3.388 -0.008 5.523 -0.359 -0.001 0.693 0.24° +_scene_ 0.069 -0.001 0.025 -5.669 -0.006 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.614, -0.008, 0.633] + !! OVERLAP: table <-> floor depth=[1.055, -0.008, 0.296] + !! OVERLAP: tv_stand <-> floor depth=[0.921, -0.008, 0.348] + !! OVERLAP: table <-> floor depth=[1.673, -0.008, 0.488] + !! OVERLAP: chair <-> floor depth=[0.214, -0.008, 0.302] + !! OVERLAP: chair <-> floor depth=[0.317, -0.008, 0.359] + !! OVERLAP: chair <-> floor depth=[0.420, -0.008, 0.482] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-25795 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0808, Walkable Loss: 1.8694 (Center Penalty: 0.5356, C1 Heatmap: 0.7536, C2 Repulsion: 3.6541), Relational Loss: 0.0146 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.494 0.793 0.531 2.110 0.001 0.221 -74.77° +sofa 2.025 0.899 0.676 1.264 0.001 -1.337 0.21° +chair 0.632 0.469 0.482 -0.140 -0.003 0.754 -90.01° +table 0.385 0.298 0.297 1.188 0.001 -0.303 179.70° +table 0.318 0.351 0.388 2.188 0.002 -0.779 179.93° +table 0.494 0.359 0.467 -0.765 0.002 -1.070 179.92° +table 1.157 0.733 0.374 -2.024 0.003 0.762 179.67° +chair 0.465 0.819 0.469 -2.865 0.005 1.670 -179.87° +chair 0.423 0.799 0.465 -1.847 0.001 1.786 -179.92° +chair 0.415 0.792 0.435 -1.946 0.000 -0.003 -0.00° +chair 0.461 0.727 0.450 -2.932 0.001 -0.180 0.03° +tv_stand 2.572 0.738 0.502 1.115 -0.001 2.564 -179.85° +cabinet 1.093 1.176 0.377 -2.862 -0.007 -1.866 89.98° +lamp 0.335 0.704 0.253 1.357 1.914 0.498 -0.02° +lamp 0.625 0.946 0.614 -1.709 1.938 0.761 0.01° +floor 6.331 -0.002 5.268 -0.786 0.001 0.638 0.18° +_scene_ 0.070 0.001 0.022 -5.674 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.494, -0.002, 0.531] + !! OVERLAP: sofa <-> floor depth=[2.025, -0.002, 0.676] + !! OVERLAP: chair <-> floor depth=[0.632, -0.002, 0.482] + !! OVERLAP: table <-> floor depth=[0.385, -0.002, 0.297] + !! OVERLAP: table <-> floor depth=[0.318, -0.002, 0.388] + !! OVERLAP: table <-> floor depth=[0.494, -0.002, 0.467] + !! OVERLAP: table <-> floor depth=[1.157, -0.002, 0.374] + !! OVERLAP: chair <-> floor depth=[0.465, -0.002, 0.469] + !! OVERLAP: chair <-> floor depth=[0.423, -0.002, 0.465] + !! OVERLAP: chair <-> floor depth=[0.415, -0.002, 0.435] + !! OVERLAP: chair <-> floor depth=[0.461, -0.002, 0.450] + !! OVERLAP: tv_stand <-> floor depth=[2.550, -0.002, 0.502] + !! OVERLAP: cabinet <-> floor depth=[1.093, -0.002, 0.318] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-62037 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0751, Walkable Loss: 1.9896 (Center Penalty: 0.4155, C1 Heatmap: 0.6021, C2 Repulsion: 5.4620), Relational Loss: 0.0281 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.060 0.936 0.821 0.088 0.004 -2.497 89.92° +table 1.048 0.863 0.408 1.088 0.005 0.503 -0.50° +tv_stand 1.476 0.452 0.238 -1.178 0.000 -2.403 90.12° +cabinet 0.842 1.208 0.113 -1.293 0.001 2.643 90.30° +cabinet 0.639 0.689 0.298 -1.607 0.003 0.223 89.98° +table 0.379 0.547 0.339 1.181 -0.004 -1.268 -0.12° +bookshelf 1.459 2.321 -0.053 0.686 0.001 1.923 179.91° +sofa 2.133 0.687 0.875 0.499 0.001 -2.956 -0.03° +lamp 0.899 0.776 0.906 -0.111 1.779 -2.333 90.17° +chair 0.445 0.990 0.489 -0.029 0.001 1.232 179.95° +lamp 0.617 1.071 0.651 0.792 1.679 0.737 -0.10° +chair 0.469 1.007 0.539 1.179 0.002 1.050 -179.99° +chair 0.338 1.050 0.402 0.850 -0.005 -0.470 -0.09° +chair 0.229 1.073 0.448 1.413 0.025 -0.236 -0.09° +floor 3.687 -0.014 7.854 -0.157 -0.000 -1.302 -0.22° +_scene_ 0.068 0.001 0.021 -5.670 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> tv_stand depth=[0.002, 0.452, 0.238] + !! OVERLAP: table <-> sofa depth=[1.060, 0.687, 0.389] + !! OVERLAP: table <-> floor depth=[1.060, -0.014, 0.821] + !! OVERLAP: table <-> floor depth=[1.048, -0.014, 0.408] + !! OVERLAP: tv_stand <-> sofa depth=[0.128, 0.452, 0.003] + !! OVERLAP: tv_stand <-> floor depth=[1.476, -0.014, 0.238] + !! OVERLAP: cabinet <-> floor depth=[0.842, -0.014, 0.038] + !! OVERLAP: cabinet <-> floor depth=[0.639, -0.014, 0.298] + !! OVERLAP: table <-> floor depth=[0.379, -0.014, 0.339] + !! OVERLAP: bookshelf <-> floor depth=[1.459, -0.014, -0.053] + !! OVERLAP: sofa <-> floor depth=[2.133, -0.014, 0.875] + !! OVERLAP: chair <-> floor depth=[0.445, -0.014, 0.489] + !! OVERLAP: chair <-> floor depth=[0.469, -0.014, 0.539] + !! OVERLAP: chair <-> floor depth=[0.338, -0.014, 0.402] + !! OVERLAP: chair <-> floor depth=[0.229, -0.014, 0.448] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17657 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4350 (Center Penalty: 0.2111, C1 Heatmap: 0.6214, C2 Repulsion: 3.6337), Relational Loss: 0.0434 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.479 0.707 -0.148 -1.144 -0.056 -1.611 -88.83° +chair 0.386 0.866 0.426 -0.432 -0.000 -2.453 0.05° +chair 0.399 0.906 0.475 -0.416 -0.001 -1.701 179.94° +chair 0.412 0.870 0.507 0.493 0.004 -2.348 -89.94° +chair 0.438 0.849 0.424 0.396 -0.001 -1.492 179.93° +sofa 1.880 0.879 0.658 -1.827 0.006 1.573 90.11° +table 1.245 0.384 0.548 -0.328 0.001 1.636 90.05° +table 0.813 0.459 0.756 -1.734 0.004 -0.203 90.15° +tv_stand 1.576 0.552 0.317 0.359 -0.007 1.420 -90.35° +lamp 0.759 0.823 0.790 -0.051 1.881 1.662 -0.02° +lamp 0.252 0.869 0.267 -0.009 2.113 -1.991 -0.01° +floor 4.186 -0.010 6.396 -0.932 0.001 0.006 0.18° +_scene_ 0.068 -0.000 0.023 -5.673 -0.004 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.212, 0.707, -0.148] + !! OVERLAP: table <-> floor depth=[1.479, -0.010, -0.148] + !! OVERLAP: chair <-> floor depth=[0.386, -0.010, 0.426] + !! OVERLAP: chair <-> floor depth=[0.399, -0.010, 0.475] + !! OVERLAP: chair <-> floor depth=[0.412, -0.010, 0.507] + !! OVERLAP: chair <-> floor depth=[0.438, -0.010, 0.424] + !! OVERLAP: sofa <-> table depth=[0.063, 0.384, 0.540] + !! OVERLAP: sofa <-> floor depth=[1.880, -0.010, 0.658] + !! OVERLAP: table <-> tv_stand depth=[0.724, 0.384, 0.217] + !! OVERLAP: table <-> floor depth=[1.245, -0.010, 0.548] + !! OVERLAP: table <-> floor depth=[0.813, -0.010, 0.756] + !! OVERLAP: tv_stand <-> floor depth=[1.576, -0.010, 0.317] +============================================================ + + +============================================================ +SCENE: LivingRoom-11224 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0528, Walkable Loss: 1.3745 (Center Penalty: 0.7338, C1 Heatmap: 0.5338, C2 Repulsion: 1.0684), Relational Loss: 0.0015 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.099 0.901 0.919 -1.399 -0.000 -0.111 89.95° +table 1.573 0.777 0.911 -1.004 -0.000 -0.114 -90.02° +tv_stand 0.821 0.362 0.265 1.125 0.013 0.178 -90.47° +lamp 0.531 0.413 0.457 0.811 2.144 0.301 0.58° +floor 4.492 0.012 2.990 -0.763 -0.007 -0.207 0.28° +_scene_ 0.072 -0.001 0.036 -5.657 -0.005 -5.695 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.441, 0.777, 0.911] + !! OVERLAP: sofa <-> floor depth=[2.099, 0.012, 0.919] + !! OVERLAP: table <-> floor depth=[1.573, 0.012, 0.911] + !! OVERLAP: tv_stand <-> floor depth=[0.768, 0.012, 0.265] +============================================================ + + +============================================================ +SCENE: LivingRoom-13136 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0334, Walkable Loss: 1.5722 (Center Penalty: 0.3249, C1 Heatmap: 0.5290, C2 Repulsion: 4.1207), Relational Loss: 0.0185 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 0.568 0.736 0.430 -0.702 -0.010 -1.565 89.44° +table 1.483 0.484 0.936 0.764 0.000 -2.023 90.02° +chair 0.607 0.878 0.724 0.473 0.001 -2.816 0.01° +table 0.350 0.522 0.378 -0.957 0.009 -3.519 90.26° +table 0.448 0.638 0.488 -0.908 0.004 -0.510 90.05° +table 1.645 0.781 0.970 1.151 -0.001 2.952 -0.15° +chair 0.447 0.952 0.537 -0.155 0.000 2.013 90.07° +chair 0.420 0.967 0.471 -0.279 -0.004 2.783 -179.81° +chair 0.469 0.871 0.528 1.512 -0.001 1.524 -90.27° +chair 0.592 0.919 0.542 1.247 -0.000 2.843 -116.62° +bookshelf 0.646 2.079 0.205 -0.709 -0.003 0.714 90.18° +lamp 0.788 0.950 0.788 0.707 1.671 2.583 -0.06° +floor 4.366 -0.003 8.202 1.068 -0.013 -0.390 -0.58° +_scene_ 0.070 0.001 0.024 -5.670 -0.005 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[0.568, -0.003, 0.430] + !! OVERLAP: table <-> chair depth=[0.607, 0.484, 0.037] + !! OVERLAP: table <-> floor depth=[1.483, -0.003, 0.936] + !! OVERLAP: chair <-> floor depth=[0.607, -0.003, 0.724] + !! OVERLAP: table <-> floor depth=[0.333, -0.003, 0.378] + !! OVERLAP: table <-> floor depth=[0.431, -0.003, 0.488] + !! OVERLAP: table <-> chair depth=[0.592, 0.781, 0.542] + !! OVERLAP: table <-> floor depth=[1.645, -0.003, 0.970] + !! OVERLAP: chair <-> floor depth=[0.447, -0.003, 0.537] + !! OVERLAP: chair <-> floor depth=[0.420, -0.003, 0.471] + !! OVERLAP: chair <-> floor depth=[0.469, -0.003, 0.528] + !! OVERLAP: chair <-> floor depth=[0.592, -0.003, 0.542] + !! OVERLAP: bookshelf <-> floor depth=[0.646, -0.003, 0.205] +============================================================ + + +============================================================ +SCENE: LivingRoom-40975 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0629, Walkable Loss: 0.8141 (Center Penalty: 0.2069, C1 Heatmap: 0.3939, C2 Repulsion: 1.4607), Relational Loss: 0.0337 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.667 1.197 0.373 0.030 0.002 2.324 -179.80° +sofa 1.754 0.800 0.778 0.901 0.000 0.675 0.02° +table 1.031 0.723 1.083 1.343 -0.002 1.579 -0.00° +lamp 1.203 0.683 0.709 0.831 2.116 1.040 0.02° +lamp 0.478 0.801 0.328 -1.427 2.208 -1.436 -89.76° +floor 5.133 -0.000 5.125 -0.771 -0.008 0.751 0.52° +_scene_ 0.067 0.003 0.027 -5.666 -0.003 -5.707 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.667, -0.000, 0.373] + !! OVERLAP: sofa <-> table depth=[0.951, 0.723, 0.026] + !! OVERLAP: sofa <-> floor depth=[1.754, -0.000, 0.778] + !! OVERLAP: table <-> floor depth=[0.968, -0.000, 1.083] +============================================================ + + +============================================================ +SCENE: LivingRoom-6045 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0859, Walkable Loss: 1.7195 (Center Penalty: 0.7573, C1 Heatmap: 0.5417, C2 Repulsion: 2.6443), Relational Loss: 0.0156 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.487 0.656 0.201 0.961 0.003 1.005 -89.41° +cabinet 0.577 1.084 0.380 -1.723 0.002 2.098 90.00° +sofa 2.150 0.847 0.703 -1.342 -0.001 0.406 90.12° +table 0.433 0.301 0.483 0.083 -0.002 0.811 0.42° +chair 0.667 0.820 0.774 -0.133 0.001 2.015 179.92° +bookshelf 1.272 1.821 0.241 -1.362 -0.000 -1.528 89.91° +lamp 0.987 0.720 0.609 -0.147 2.054 0.806 -0.04° +floor 4.035 -0.001 5.556 -0.356 -0.005 0.837 -0.21° +_scene_ 0.069 0.000 0.022 -5.672 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> table depth=[0.081, 0.301, 0.148] + !! OVERLAP: tv_stand <-> floor depth=[1.444, -0.001, 0.201] + !! OVERLAP: cabinet <-> floor depth=[0.577, -0.001, 0.380] + !! OVERLAP: sofa <-> floor depth=[2.107, -0.001, 0.703] + !! OVERLAP: table <-> floor depth=[0.433, -0.001, 0.483] + !! OVERLAP: chair <-> floor depth=[0.667, -0.001, 0.774] + !! OVERLAP: bookshelf <-> floor depth=[1.272, -0.001, 0.241] +============================================================ + + +============================================================ +SCENE: LivingRoom-2050 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.7135 (Center Penalty: 0.5826, C1 Heatmap: 0.7315, C2 Repulsion: 2.7288), Relational Loss: 0.0024 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.127 0.751 0.792 0.016 0.001 -1.674 0.02° +chair 0.804 0.928 0.698 2.397 0.002 -0.261 -67.46° +table 1.302 0.859 0.692 1.074 -0.001 0.507 0.15° +tv_stand 1.970 0.628 0.335 -0.163 0.004 1.157 -179.85° +table 0.483 0.529 0.520 -1.786 0.001 -1.696 -0.06° +table 0.488 0.434 0.477 2.418 0.002 -1.624 -0.05° +lamp 0.626 0.743 0.643 1.044 1.899 0.296 -0.05° +chair 0.553 0.685 0.568 -1.953 0.005 -0.225 52.26° +floor 7.180 -0.001 3.668 -0.579 -0.000 -0.420 0.02° +_scene_ 0.070 -0.001 0.018 -5.671 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.127, -0.001, 0.792] + !! OVERLAP: chair <-> floor depth=[0.804, -0.001, 0.698] + !! OVERLAP: table <-> floor depth=[1.302, -0.001, 0.692] + !! OVERLAP: tv_stand <-> floor depth=[1.970, -0.001, 0.335] + !! OVERLAP: table <-> floor depth=[0.483, -0.001, 0.520] + !! OVERLAP: table <-> floor depth=[0.488, -0.001, 0.477] + !! OVERLAP: chair <-> floor depth=[0.553, -0.001, 0.568] +============================================================ + + +============================================================ +SCENE: LivingRoom-12271 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4665 (Center Penalty: 0.6093, C1 Heatmap: 0.6062, C2 Repulsion: 1.8614), Relational Loss: 0.0289 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.545 0.122 0.407 -0.942 2.636 0.164 -0.34° +table 1.135 0.720 1.033 -0.923 0.001 -0.870 -90.14° +sofa 2.209 1.517 1.011 -0.988 0.003 -0.416 179.27° +table 0.654 1.080 0.478 1.463 -0.000 1.492 -90.08° +sofa 0.715 0.408 0.807 0.822 0.006 -0.662 -89.65° +floor 5.451 0.007 3.907 -0.835 -0.000 0.326 -0.07° +_scene_ 0.073 0.002 0.045 -5.661 -0.004 -5.708 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.135, 0.720, 0.568] + !! OVERLAP: table <-> floor depth=[1.135, 0.007, 1.033] + !! OVERLAP: sofa <-> floor depth=[2.209, 0.007, 1.011] + !! OVERLAP: table <-> floor depth=[0.654, 0.007, 0.478] + !! OVERLAP: sofa <-> floor depth=[0.715, 0.007, 0.807] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-52564 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0480, Walkable Loss: 1.0223 (Center Penalty: 0.2250, C1 Heatmap: 0.5270, C2 Repulsion: 1.8789), Relational Loss: 0.0178 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.829 0.643 0.309 -1.683 0.003 -1.725 90.05° +table 0.310 0.399 0.390 2.178 0.016 -2.052 -0.06° +table 1.190 1.356 0.419 -2.609 0.001 0.283 89.94° +table 0.585 0.700 0.567 -1.061 -0.001 -0.251 -0.04° +table 0.368 0.684 0.311 -0.889 0.013 -2.944 -33.85° +sofa 2.308 0.979 0.944 1.724 0.002 -1.588 -90.16° +lamp 0.940 1.171 0.843 0.861 1.575 1.821 0.08° +lamp 0.517 0.688 0.535 0.381 2.081 -1.849 -0.04° +floor 6.900 0.006 6.314 -0.620 -0.004 -0.794 -0.01° +_scene_ 0.113 -0.003 0.134 -5.603 -0.003 -5.641 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.829, 0.006, 0.309] + !! OVERLAP: table <-> sofa depth=[0.310, 0.399, 0.203] + !! OVERLAP: table <-> floor depth=[0.310, 0.006, 0.390] + !! OVERLAP: table <-> floor depth=[1.190, 0.006, 0.419] + !! OVERLAP: table <-> floor depth=[0.585, 0.006, 0.567] + !! OVERLAP: table <-> floor depth=[0.368, 0.006, 0.311] + !! OVERLAP: sofa <-> floor depth=[2.260, 0.006, 0.944] +============================================================ + + +============================================================ +SCENE: LivingRoom-423 | 21 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0843, Walkable Loss: 1.5699 (Center Penalty: 0.1716, C1 Heatmap: 0.5282, C2 Repulsion: 4.8787), Relational Loss: 0.0102 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.423 2.703 0.507 0.845 0.031 3.155 -91.13° +table 1.401 0.847 0.177 -1.601 -0.009 1.564 0.86° +chair 0.459 0.814 0.433 -1.190 -0.002 0.737 -0.03° +chair 0.505 0.805 0.521 -0.354 0.001 1.236 0.09° +chair 0.355 0.846 0.472 -1.033 0.001 2.761 179.94° +chair 0.410 0.794 0.501 0.013 0.001 2.912 179.99° +chair 0.472 0.767 0.505 0.566 0.001 1.892 -90.19° +chair 0.400 0.845 0.407 -1.930 0.005 2.103 90.11° +sofa 1.504 1.101 0.428 -1.681 0.028 -2.599 93.21° +sofa 1.066 0.859 0.760 -0.043 -0.001 -4.430 0.05° +chair 0.717 0.983 0.770 -0.589 -0.003 -0.958 -163.64° +table 0.693 0.625 0.437 -0.263 -0.018 -2.764 89.51° +table 0.585 0.418 0.485 -1.727 0.003 -0.645 89.98° +table 0.393 0.320 0.431 -1.716 -0.006 -4.227 -0.09° +cabinet 1.987 2.225 0.302 -1.462 0.003 3.826 179.87° +tv_stand 1.003 0.641 0.277 0.582 -0.010 -2.256 -90.05° +lamp 0.848 0.745 0.831 -0.203 2.002 -2.473 -0.05° +lamp 0.748 0.824 0.723 -0.315 1.723 2.625 0.01° +lamp 0.275 1.458 0.303 0.963 1.305 3.884 0.03° +floor 4.533 -0.000 9.001 -1.208 -0.005 -0.483 -0.15° +_scene_ 0.068 0.000 0.020 -5.672 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.423, -0.000, 0.507] + !! OVERLAP: table <-> floor depth=[1.401, -0.000, 0.177] + !! OVERLAP: chair <-> floor depth=[0.459, -0.000, 0.433] + !! OVERLAP: chair <-> floor depth=[0.505, -0.000, 0.521] + !! OVERLAP: chair <-> floor depth=[0.355, -0.000, 0.472] + !! OVERLAP: chair <-> floor depth=[0.410, -0.000, 0.501] + !! OVERLAP: chair <-> floor depth=[0.472, -0.000, 0.505] + !! OVERLAP: chair <-> floor depth=[0.400, -0.000, 0.407] + !! OVERLAP: sofa <-> floor depth=[1.504, -0.000, 0.428] + !! OVERLAP: sofa <-> floor depth=[1.066, -0.000, 0.760] + !! OVERLAP: chair <-> floor depth=[0.717, -0.000, 0.770] + !! OVERLAP: table <-> floor depth=[0.693, -0.000, 0.437] + !! OVERLAP: table <-> floor depth=[0.585, -0.000, 0.485] + !! OVERLAP: table <-> floor depth=[0.393, -0.000, 0.431] + !! OVERLAP: cabinet <-> floor depth=[1.987, -0.000, 0.302] + !! OVERLAP: tv_stand <-> floor depth=[0.979, -0.000, 0.277] +============================================================ + + +============================================================ +SCENE: LivingRoom-34874 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1803 (Center Penalty: 0.2189, C1 Heatmap: 0.7824, C2 Repulsion: 1.6773), Relational Loss: 0.0161 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 3.104 0.868 1.085 -0.787 -0.011 1.500 -179.90° +lamp 0.516 0.477 0.523 -0.863 2.088 0.859 0.05° +table 1.408 0.519 0.975 -0.816 -0.002 1.012 -0.30° +tv_stand 1.949 0.677 0.284 -1.161 0.024 -0.756 -1.25° +floor 4.718 0.013 3.842 -0.261 0.007 1.021 -0.18° +_scene_ 0.063 0.001 0.019 -5.668 -0.003 -5.705 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.408, 0.519, 0.542] + !! OVERLAP: sofa <-> floor depth=[3.104, 0.013, 1.085] + !! OVERLAP: table <-> floor depth=[1.408, 0.013, 0.975] + !! OVERLAP: tv_stand <-> floor depth=[1.949, 0.013, 0.284] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-9632 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0837, Walkable Loss: 1.6356 (Center Penalty: 0.1680, C1 Heatmap: 0.7323, C2 Repulsion: 4.4089), Relational Loss: 0.0247 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.692 0.761 0.681 -0.864 1.875 -1.882 -0.02° +sofa 2.093 0.855 0.658 -2.202 -0.003 1.884 89.88° +table 1.173 0.729 0.479 -1.207 -0.007 1.895 -92.59° +tv_stand 1.670 0.427 0.333 1.060 -0.000 1.930 -89.93° +chair 0.636 0.874 0.673 -2.063 0.002 0.415 90.04° +chair 0.713 0.916 0.826 -1.675 -0.001 -0.728 179.92° +cabinet 0.559 0.923 0.271 1.528 0.002 0.455 -90.01° +table 1.539 0.728 0.939 -0.446 -0.000 -2.260 0.08° +chair 0.395 0.478 0.357 1.028 0.001 -0.196 -0.01° +chair 0.215 0.506 0.329 -0.398 0.003 1.694 -0.06° +chair 0.322 0.414 0.320 -0.107 0.001 2.147 -90.52° +lamp 0.747 0.658 0.670 -0.577 2.041 1.355 -0.04° +floor 6.058 0.003 6.424 -1.211 0.001 0.489 -0.00° +_scene_ 0.073 -0.001 0.023 -5.672 -0.004 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[0.638, 0.729, 0.479] + !! OVERLAP: sofa <-> floor depth=[2.093, 0.003, 0.658] + !! OVERLAP: table <-> floor depth=[1.173, 0.003, 0.479] + !! OVERLAP: tv_stand <-> floor depth=[1.592, 0.003, 0.333] + !! OVERLAP: chair <-> floor depth=[0.636, 0.003, 0.673] + !! OVERLAP: chair <-> floor depth=[0.713, 0.003, 0.826] + !! OVERLAP: cabinet <-> floor depth=[0.559, 0.003, 0.271] + !! OVERLAP: table <-> floor depth=[1.539, 0.003, 0.932] + !! OVERLAP: chair <-> floor depth=[0.395, 0.003, 0.357] + !! OVERLAP: chair <-> floor depth=[0.215, 0.003, 0.329] + !! OVERLAP: chair <-> floor depth=[0.322, 0.003, 0.320] +============================================================ + + +============================================================ +SCENE: LivingRoom-860 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0175, Walkable Loss: 1.3234 (Center Penalty: 0.3639, C1 Heatmap: 0.5164, C2 Repulsion: 2.7319), Relational Loss: 0.0169 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.260 0.746 1.276 0.922 -0.006 -0.497 0.29° +chair 0.310 0.836 0.311 0.472 0.005 2.106 -179.88° +chair 0.328 0.870 0.329 0.282 -0.000 1.529 -179.90° +table 0.469 0.581 0.121 0.895 -0.029 1.607 -179.10° +sofa 1.779 0.822 0.689 1.427 -0.002 -0.708 -90.17° +tv_stand 0.440 1.131 0.497 -0.438 -0.084 -1.356 89.14° +cabinet 0.827 1.246 0.206 0.566 -0.002 -2.387 -0.01° +lamp 0.815 1.068 0.820 0.903 1.668 -0.459 -0.02° +floor 3.204 -0.034 5.564 0.961 -0.018 -0.520 0.12° +_scene_ 0.069 0.000 0.023 -5.671 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.014, 0.746, 0.689] + !! OVERLAP: table <-> floor depth=[1.260, -0.034, 1.276] + !! OVERLAP: chair <-> floor depth=[0.310, -0.034, 0.311] + !! OVERLAP: chair <-> floor depth=[0.328, -0.034, 0.329] + !! OVERLAP: table <-> floor depth=[0.469, -0.034, 0.121] + !! OVERLAP: sofa <-> floor depth=[1.779, -0.034, 0.689] + !! OVERLAP: tv_stand <-> floor depth=[0.422, -0.034, 0.497] + !! OVERLAP: cabinet <-> floor depth=[0.827, -0.034, 0.206] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-8304 | 18 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0504, Walkable Loss: 1.9038 (Center Penalty: 0.1138, C1 Heatmap: 0.5689, C2 Repulsion: 6.6745), Relational Loss: 0.0104 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.888 1.151 0.977 -0.826 0.002 4.272 -179.86° +sofa 1.678 0.880 0.724 -2.588 -0.007 2.364 90.56° +chair 0.476 0.883 0.993 -0.658 -0.002 1.743 54.59° +table 0.680 0.360 0.755 -0.854 -0.000 2.373 0.11° +tv_stand 1.602 0.923 0.316 0.512 0.001 2.518 -90.09° +table 0.522 0.528 0.473 -2.126 0.001 0.376 -0.02° +table 0.418 0.523 0.462 -2.239 -0.011 3.811 0.00° +cabinet 0.885 2.385 0.355 -2.190 -0.004 -1.176 0.11° +chair 0.569 0.970 0.607 1.486 0.007 -2.525 -90.23° +table 1.370 0.741 0.650 1.082 0.003 -2.866 90.20° +chair 0.366 1.036 0.583 1.598 -0.000 -3.487 -89.95° +chair 0.380 1.028 0.437 0.039 0.010 -2.456 90.29° +chair 0.566 1.028 0.536 0.126 0.010 -3.366 90.32° +bookshelf 1.180 1.958 0.259 -0.931 -0.006 -3.443 90.13° +lamp 0.581 0.635 0.571 -0.578 2.104 2.379 -0.03° +lamp 0.417 1.031 0.382 1.085 1.946 -3.008 0.02° +floor 5.324 -0.005 8.855 -0.906 0.001 0.520 0.00° +_scene_ 0.075 -0.000 0.027 -5.668 -0.004 -5.709 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.888, -0.005, 0.977] + !! OVERLAP: sofa <-> floor depth=[1.678, -0.005, 0.724] + !! OVERLAP: chair <-> table depth=[0.382, 0.360, 0.245] + !! OVERLAP: chair <-> floor depth=[0.476, -0.005, 0.993] + !! OVERLAP: table <-> floor depth=[0.680, -0.005, 0.755] + !! OVERLAP: tv_stand <-> floor depth=[1.602, -0.005, 0.316] + !! OVERLAP: table <-> floor depth=[0.522, -0.005, 0.473] + !! OVERLAP: table <-> floor depth=[0.418, -0.005, 0.462] + !! OVERLAP: cabinet <-> floor depth=[0.885, -0.005, 0.355] + !! OVERLAP: chair <-> table depth=[0.566, 0.741, 0.287] + !! OVERLAP: chair <-> floor depth=[0.555, -0.005, 0.607] + !! OVERLAP: table <-> chair depth=[0.012, 0.741, 0.093] + !! OVERLAP: table <-> floor depth=[1.360, -0.005, 0.650] + !! OVERLAP: chair <-> floor depth=[0.341, -0.005, 0.583] + !! OVERLAP: chair <-> floor depth=[0.380, -0.005, 0.437] + !! OVERLAP: chair <-> floor depth=[0.566, -0.005, 0.536] + !! OVERLAP: bookshelf <-> floor depth=[1.180, -0.005, 0.259] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-13962 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0330, Walkable Loss: 1.9066 (Center Penalty: 0.2924, C1 Heatmap: 0.6414, C2 Repulsion: 5.5050), Relational Loss: 0.0201 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.632 1.466 0.668 -0.257 1.598 0.991 0.00° +tv_stand 1.580 0.435 0.352 0.793 -0.000 1.541 -89.98° +table 0.468 0.246 0.443 -0.361 0.001 1.412 -90.15° +table 0.447 0.491 0.401 -1.686 0.005 2.613 89.97° +table 0.469 0.527 0.429 -1.693 0.000 -0.655 0.02° +sofa 1.918 0.932 0.836 -1.928 0.013 0.944 89.82° +chair 0.718 0.699 0.649 -0.328 0.002 2.792 -179.92° +chair 0.379 0.770 0.387 -0.437 0.003 -2.457 90.03° +chair 0.441 0.787 0.380 -0.488 0.001 -1.816 90.15° +chair 0.522 0.773 0.553 1.268 0.002 -2.329 -89.96° +chair 0.399 0.699 0.581 1.096 -0.005 -1.758 -90.39° +table 1.192 0.753 0.360 0.256 -0.005 -1.971 -90.29° +floor 4.566 -0.006 6.966 -0.733 0.001 0.640 0.37° +_scene_ 0.073 0.000 0.025 -5.671 -0.004 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.547, -0.006, 0.352] + !! OVERLAP: table <-> floor depth=[0.468, -0.006, 0.443] + !! OVERLAP: table <-> floor depth=[0.447, -0.006, 0.401] + !! OVERLAP: table <-> floor depth=[0.469, -0.006, 0.429] + !! OVERLAP: sofa <-> floor depth=[1.918, -0.006, 0.836] + !! OVERLAP: chair <-> floor depth=[0.718, -0.006, 0.649] + !! OVERLAP: chair <-> floor depth=[0.379, -0.006, 0.387] + !! OVERLAP: chair <-> table depth=[0.072, 0.753, 0.215] + !! OVERLAP: chair <-> floor depth=[0.441, -0.006, 0.380] + !! OVERLAP: chair <-> floor depth=[0.522, -0.006, 0.553] + !! OVERLAP: chair <-> floor depth=[0.399, -0.006, 0.581] + !! OVERLAP: table <-> floor depth=[1.192, -0.006, 0.360] +============================================================ + + +============================================================ +SCENE: LivingRoom-41893 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3150 (Center Penalty: 0.4924, C1 Heatmap: 0.5706, C2 Repulsion: 6.8308), Relational Loss: 0.0334 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.856 0.662 0.476 1.462 -0.025 -0.084 179.65° +chair 0.677 0.764 0.659 1.947 0.004 -0.227 -102.48° +table 0.538 0.551 -0.057 -0.765 -0.050 0.337 179.20° +chair 0.418 1.001 0.440 -1.243 0.000 -0.072 -90.23° +chair 0.420 1.014 0.482 -1.961 0.001 -0.349 89.70° +table 1.313 0.863 0.575 -1.444 0.001 0.192 90.57° +table 1.000 0.460 1.273 1.564 -0.001 -0.606 -0.06° +lamp 0.425 0.871 0.427 1.394 1.639 -0.787 0.02° +lamp 0.320 0.917 0.261 -1.205 1.625 0.351 0.01° +floor 5.854 0.056 2.674 0.620 0.014 -0.823 0.33° +_scene_ 0.071 0.000 0.023 -5.673 -0.005 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> chair depth=[0.677, 0.662, 0.424] + !! OVERLAP: sofa <-> table depth=[1.000, 0.460, 0.352] + !! OVERLAP: sofa <-> floor depth=[1.856, 0.056, 0.476] + !! OVERLAP: chair <-> table depth=[0.455, 0.460, 0.587] + !! OVERLAP: chair <-> floor depth=[0.677, 0.056, 0.659] + !! OVERLAP: table <-> table depth=[0.247, 0.551, -0.057] + !! OVERLAP: table <-> floor depth=[0.538, 0.056, -0.057] + !! OVERLAP: chair <-> table depth=[0.418, 0.863, 0.244] + !! OVERLAP: chair <-> floor depth=[0.418, 0.056, 0.440] + !! OVERLAP: chair <-> floor depth=[0.420, 0.056, 0.482] + !! OVERLAP: table <-> floor depth=[1.313, 0.056, 0.575] + !! OVERLAP: table <-> floor depth=[1.000, 0.056, 1.273] +============================================================ + + +============================================================ +SCENE: LivingRoom-18042 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0526, Walkable Loss: 1.6103 (Center Penalty: 1.1390, C1 Heatmap: 0.5305, C2 Repulsion: 0.2340), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.194 0.784 0.845 0.639 0.000 -1.491 -0.06° +table 0.914 0.448 1.078 0.790 0.001 0.770 -0.03° +lamp 0.887 0.774 0.878 1.164 1.899 0.190 -0.24° +table 1.333 1.268 0.519 -1.502 0.002 0.841 89.92° +floor 4.396 -0.003 4.906 0.083 0.001 -0.049 0.01° +_scene_ 0.077 0.006 0.099 -5.629 -0.005 -5.701 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.194, -0.003, 0.845] + !! OVERLAP: table <-> floor depth=[0.914, -0.003, 1.078] + !! OVERLAP: table <-> floor depth=[1.280, -0.003, 0.519] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-26816 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3189, Walkable Loss: 1.7754 (Center Penalty: 0.5646, C1 Heatmap: 0.5258, C2 Repulsion: 3.9510), Relational Loss: 0.0148 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 0.844 0.925 0.674 1.277 -0.029 -1.115 -89.59° +table 0.933 0.450 0.886 -0.187 -0.001 -0.909 -90.02° +table 0.452 0.626 0.496 1.413 -0.000 -2.726 -90.26° +table 0.438 0.587 0.579 1.463 0.000 0.450 -90.11° +chair 0.782 0.749 0.541 -0.585 0.015 0.856 -169.72° +chair 0.815 0.320 0.431 -0.369 0.002 -2.248 -0.10° +table 1.246 0.768 0.548 0.183 -0.013 2.193 -89.66° +chair 0.428 0.840 0.361 1.116 0.023 2.450 -90.51° +chair 0.459 0.849 0.408 0.403 -0.000 2.042 -99.72° +chair 0.282 0.866 0.322 -0.710 -0.016 2.599 89.96° +chair 0.250 0.871 0.353 -0.672 0.020 1.972 89.72° +lamp 0.193 0.799 0.109 0.326 1.739 2.359 0.00° +lamp 0.691 0.971 0.630 -0.167 1.828 -1.187 0.05° +bookshelf 0.950 2.589 0.225 1.115 -0.001 -3.746 0.22° +bookshelf 1.792 2.324 0.159 -0.718 0.000 -4.156 0.00° +floor 3.741 0.002 7.051 -0.274 0.007 -0.853 -0.33° +_scene_ 0.065 0.002 0.017 -5.668 -0.006 -5.713 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[0.741, 0.002, 0.674] + !! OVERLAP: table <-> floor depth=[0.933, 0.002, 0.886] + !! OVERLAP: table <-> floor depth=[0.409, 0.002, 0.496] + !! OVERLAP: table <-> floor depth=[0.353, 0.002, 0.579] + !! OVERLAP: chair <-> floor depth=[0.782, 0.002, 0.541] + !! OVERLAP: chair <-> floor depth=[0.815, 0.002, 0.431] + !! OVERLAP: table <-> chair depth=[0.459, 0.768, 0.327] + !! OVERLAP: table <-> floor depth=[1.246, 0.002, 0.548] + !! OVERLAP: chair <-> floor depth=[0.428, 0.002, 0.361] + !! OVERLAP: chair <-> floor depth=[0.459, 0.002, 0.408] + !! OVERLAP: chair <-> floor depth=[0.282, 0.002, 0.234] + !! OVERLAP: chair <-> floor depth=[0.250, 0.002, 0.353] + !! OVERLAP: bookshelf <-> floor depth=[0.950, 0.002, 0.225] + !! OVERLAP: bookshelf <-> floor depth=[1.792, 0.002, 0.159] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17385 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0023, Walkable Loss: 1.7202 (Center Penalty: 0.2664, C1 Heatmap: 0.6295, C2 Repulsion: 4.7512), Relational Loss: 0.0296 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.169 0.857 0.756 1.411 0.001 1.420 -180.00° +table 0.852 0.457 0.906 1.499 0.007 0.364 -179.98° +tv_stand 1.949 0.983 0.245 1.465 0.004 -0.740 0.16° +table 1.256 0.747 0.070 -1.398 0.002 0.791 90.06° +chair 0.423 1.106 0.439 -0.699 0.001 1.583 -89.99° +chair 0.450 1.055 0.447 -0.883 0.002 0.728 -90.07° +chair 0.394 1.121 0.492 -2.117 -0.002 1.570 89.91° +chair 0.312 1.104 0.371 -2.052 0.006 0.837 90.09° +lamp 0.794 0.914 0.854 1.416 1.600 0.362 -0.06° +lamp 0.322 0.809 0.303 -1.256 2.370 0.305 -0.02° +floor 5.606 -0.000 3.714 0.235 0.002 0.997 0.43° +_scene_ 0.072 0.001 0.023 -5.667 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[2.169, -0.000, 0.756] + !! OVERLAP: table <-> floor depth=[0.852, -0.000, 0.906] + !! OVERLAP: tv_stand <-> floor depth=[1.949, -0.000, 0.242] + !! OVERLAP: table <-> chair depth=[0.338, 0.747, 0.070] + !! OVERLAP: table <-> chair depth=[0.130, 0.747, 0.070] + !! OVERLAP: table <-> floor depth=[1.256, -0.000, 0.070] + !! OVERLAP: chair <-> floor depth=[0.423, -0.000, 0.439] + !! OVERLAP: chair <-> floor depth=[0.450, -0.000, 0.447] + !! OVERLAP: chair <-> floor depth=[0.394, -0.000, 0.492] + !! OVERLAP: chair <-> floor depth=[0.312, -0.000, 0.371] +============================================================ + + +============================================================ +SCENE: LivingRoom-31397 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0457, Walkable Loss: 0.9340 (Center Penalty: 0.5208, C1 Heatmap: 0.2838, C2 Repulsion: 0.9312), Relational Loss: 0.0126 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.745 0.601 0.269 1.765 -0.001 1.370 -90.09° +table 0.182 1.003 0.190 -0.823 -0.014 1.972 90.00° +sofa 0.476 0.910 0.365 -0.460 0.068 1.267 94.15° +table 0.764 0.352 0.509 0.457 0.010 0.881 90.08° +chair 0.632 0.747 0.653 -0.145 -0.001 2.480 -179.94° +bookshelf 0.743 1.638 0.241 -0.503 -0.010 -1.790 89.52° +lamp 0.504 0.940 0.496 0.436 2.213 0.802 -0.18° +floor 3.616 0.007 6.710 0.937 -0.018 -0.151 -0.10° +_scene_ 0.072 0.001 0.023 -5.671 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.745, 0.007, 0.269] + !! OVERLAP: table <-> floor depth=[0.139, 0.007, 0.190] + !! OVERLAP: sofa <-> floor depth=[0.476, 0.007, 0.365] + !! OVERLAP: table <-> floor depth=[0.764, 0.007, 0.509] + !! OVERLAP: chair <-> floor depth=[0.632, 0.007, 0.653] + !! OVERLAP: bookshelf <-> floor depth=[0.740, 0.007, 0.241] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-14432 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0253, Walkable Loss: 2.3162 (Center Penalty: 0.2068, C1 Heatmap: 0.8467, C2 Repulsion: 7.1604), Relational Loss: 0.0243 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.445 0.975 0.221 2.569 -0.000 -1.928 -0.45° +shelf 0.300 1.750 0.264 2.644 0.001 -1.099 0.09° +table 0.658 0.639 0.249 1.344 -0.012 1.565 0.41° +table 0.948 0.735 0.911 1.086 -0.007 2.030 0.45° +chair 0.425 1.047 0.511 2.319 0.002 1.670 -90.06° +chair 0.472 1.084 0.564 0.965 -0.001 2.102 89.95° +chair 0.456 1.125 0.514 1.898 0.001 0.809 -0.04° +chair 0.441 1.109 0.463 1.244 -0.001 0.858 90.03° +table 0.450 0.533 0.457 -0.042 0.003 -1.070 0.03° +sofa 2.220 0.863 0.930 -1.380 0.001 -1.486 90.15° +table 1.005 0.425 0.813 -1.353 -0.002 0.282 -0.01° +tv_stand 2.042 0.494 0.362 -1.419 0.001 2.825 -179.82° +lamp 0.445 0.713 0.465 1.292 2.011 -1.181 -0.07° +lamp 0.330 1.115 0.255 1.197 1.530 2.096 0.03° +lamp 0.206 0.701 0.214 -1.897 1.995 0.483 0.07° +floor 6.646 0.000 5.904 0.669 0.004 0.939 0.12° +_scene_ 0.073 -0.000 0.018 -5.669 -0.006 -5.713 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.445, 0.000, 0.196] + !! OVERLAP: shelf <-> floor depth=[0.300, 0.000, 0.264] + !! OVERLAP: table <-> table depth=[0.544, 0.639, 0.115] + !! OVERLAP: table <-> floor depth=[0.658, 0.000, 0.249] + !! OVERLAP: table <-> chair depth=[0.472, 0.735, 0.564] + !! OVERLAP: table <-> floor depth=[0.948, 0.000, 0.911] + !! OVERLAP: chair <-> floor depth=[0.425, 0.000, 0.511] + !! OVERLAP: chair <-> floor depth=[0.472, 0.000, 0.564] + !! OVERLAP: chair <-> floor depth=[0.456, 0.000, 0.514] + !! OVERLAP: chair <-> floor depth=[0.441, 0.000, 0.463] + !! OVERLAP: table <-> floor depth=[0.450, 0.000, 0.457] + !! OVERLAP: sofa <-> floor depth=[2.220, 0.000, 0.930] + !! OVERLAP: table <-> floor depth=[1.005, 0.000, 0.813] + !! OVERLAP: tv_stand <-> floor depth=[2.042, 0.000, 0.362] +============================================================ + + +============================================================ +SCENE: LivingRoom-5361 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6733 (Center Penalty: 0.3543, C1 Heatmap: 0.4402, C2 Repulsion: 4.8344), Relational Loss: 0.0430 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.521 0.848 0.164 1.271 -0.005 1.333 179.65° +chair 0.454 0.792 0.763 2.235 0.021 0.492 177.89° +table 1.103 0.403 0.947 0.999 0.001 -0.758 -0.01° +table 0.682 0.356 0.695 1.189 -0.009 0.504 -179.69° +bookshelf 0.536 1.918 -0.056 1.840 -0.000 1.577 -90.19° +table 0.272 0.688 0.445 -1.472 -0.011 1.047 90.10° +chair 0.508 0.789 0.449 -1.461 0.002 0.362 0.14° +chair 0.401 0.760 0.356 -0.725 0.002 1.270 -89.99° +chair 0.452 0.737 0.420 -1.442 0.001 1.567 179.97° +lamp 0.425 0.786 0.444 1.160 1.882 -0.070 0.02° +floor 5.949 -0.017 4.179 0.919 -0.006 -0.093 -0.09° +_scene_ 0.071 0.001 0.025 -5.670 -0.004 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.521, -0.017, 0.164] + !! OVERLAP: chair <-> floor depth=[0.454, -0.017, 0.763] + !! OVERLAP: table <-> floor depth=[1.103, -0.017, 0.947] + !! OVERLAP: table <-> floor depth=[0.682, -0.017, 0.695] + !! OVERLAP: bookshelf <-> floor depth=[0.536, -0.017, -0.056] + !! OVERLAP: table <-> floor depth=[0.272, -0.017, 0.445] + !! OVERLAP: chair <-> floor depth=[0.508, -0.017, 0.449] + !! OVERLAP: chair <-> floor depth=[0.401, -0.017, 0.356] + !! OVERLAP: chair <-> floor depth=[0.452, -0.017, 0.420] +============================================================ + + +============================================================ +SCENE: LivingRoom-5655 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0197, Walkable Loss: 1.1507 (Center Penalty: 0.2490, C1 Heatmap: 0.3898, C2 Repulsion: 2.9495), Relational Loss: 0.0439 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 1.396 0.508 0.243 0.596 -0.016 1.307 -90.77° +sofa 1.213 0.848 0.419 -1.473 0.028 0.196 92.40° +table 0.848 0.516 0.830 -0.711 -0.001 1.176 90.20° +lamp 0.455 0.563 0.424 -0.353 2.038 1.261 0.06° +table 0.610 0.765 0.157 -0.891 -0.024 -1.690 -91.12° +chair 0.428 0.817 0.474 -1.603 -0.001 -2.426 0.04° +chair 0.426 0.863 0.532 -0.388 0.001 -2.398 -90.32° +chair 0.374 0.831 0.465 -1.616 0.004 -1.237 179.89° +chair 0.417 0.813 0.434 -0.755 -0.002 -1.226 -179.88° +floor 3.632 0.012 5.480 -0.542 0.006 -0.811 -0.39° +_scene_ 0.067 -0.000 0.021 -5.671 -0.006 -5.717 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[1.376, 0.012, 0.243] + !! OVERLAP: sofa <-> floor depth=[1.213, 0.012, 0.419] + !! OVERLAP: table <-> floor depth=[0.848, 0.012, 0.830] + !! OVERLAP: table <-> floor depth=[0.610, 0.012, 0.157] + !! OVERLAP: chair <-> floor depth=[0.428, 0.012, 0.474] + !! OVERLAP: chair <-> floor depth=[0.426, 0.012, 0.532] + !! OVERLAP: chair <-> floor depth=[0.374, 0.012, 0.465] + !! OVERLAP: chair <-> floor depth=[0.417, 0.012, 0.434] +============================================================ + + +============================================================ +SCENE: LivingRoom-55 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6029 (Center Penalty: 0.5740, C1 Heatmap: 0.7307, C2 Repulsion: 2.2215), Relational Loss: 0.0051 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.883 0.893 0.766 -0.213 -0.001 1.644 179.53° +table 0.614 0.664 0.551 1.844 0.002 1.606 179.97° +table 0.509 0.755 0.488 -2.104 0.000 1.777 179.98° +chair 0.604 0.809 0.717 1.930 -0.002 0.123 -43.03° +table 1.179 1.175 0.954 -0.422 0.018 0.774 -179.73° +tv_stand 2.122 0.246 0.272 0.374 0.013 -1.284 1.71° +lamp 1.608 0.975 0.563 -0.899 1.714 -0.303 -0.44° +chair 0.570 0.797 0.575 -2.171 0.000 0.123 13.84° +floor 6.311 -0.029 4.133 -0.732 0.002 0.603 0.05° +_scene_ 0.070 -0.000 0.030 -5.681 -0.001 -5.713 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.883, -0.029, 0.766] + !! OVERLAP: table <-> floor depth=[0.614, -0.029, 0.551] + !! OVERLAP: table <-> floor depth=[0.509, -0.029, 0.488] + !! OVERLAP: chair <-> floor depth=[0.604, -0.029, 0.717] + !! OVERLAP: table <-> floor depth=[1.179, -0.029, 0.954] + !! OVERLAP: tv_stand <-> floor depth=[2.122, -0.029, 0.272] + !! OVERLAP: chair <-> floor depth=[0.570, -0.029, 0.575] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-941 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4744 (Center Penalty: 0.4141, C1 Heatmap: 0.4224, C2 Repulsion: 3.6119), Relational Loss: 0.0390 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.906 0.914 -0.097 1.455 -0.002 0.531 -179.56° +table 0.642 0.785 0.616 2.104 -0.001 -0.550 -90.26° +chair 0.699 0.742 0.886 3.136 0.007 -0.396 -89.96° +table 0.681 0.392 0.465 -0.937 -0.007 0.726 0.01° +lamp 0.699 0.957 0.768 1.659 1.917 -0.638 -90.15° +chair 0.474 0.770 0.450 -1.616 0.001 -1.794 0.03° +chair 0.466 0.806 0.464 -0.980 0.001 -0.931 -90.00° +chair 0.354 0.770 0.429 -1.848 0.005 -0.258 -179.98° +table 0.640 0.745 0.660 -2.288 0.037 -1.033 90.97° +lamp 0.385 0.800 0.363 -1.960 1.935 -1.017 -0.02° +table 1.245 1.149 0.347 -3.172 0.004 0.635 89.91° +chair 0.460 0.719 0.421 -2.410 0.003 -0.957 89.86° +chair 0.274 0.318 0.293 0.862 0.001 -0.630 90.14° +floor 7.658 -0.003 3.907 -0.243 0.002 -0.843 0.36° +_scene_ 0.066 0.001 0.024 -5.672 -0.005 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.906, -0.003, -0.097] + !! OVERLAP: table <-> floor depth=[0.642, -0.003, 0.616] + !! OVERLAP: chair <-> floor depth=[0.699, -0.003, 0.886] + !! OVERLAP: table <-> floor depth=[0.681, -0.003, 0.465] + !! OVERLAP: chair <-> floor depth=[0.474, -0.003, 0.450] + !! OVERLAP: chair <-> floor depth=[0.466, -0.003, 0.464] + !! OVERLAP: chair <-> floor depth=[0.354, -0.003, 0.429] + !! OVERLAP: table <-> chair depth=[0.428, 0.697, 0.421] + !! OVERLAP: table <-> floor depth=[0.640, -0.003, 0.660] + !! OVERLAP: table <-> floor depth=[1.245, -0.003, 0.347] + !! OVERLAP: chair <-> floor depth=[0.460, -0.003, 0.421] + !! OVERLAP: chair <-> floor depth=[0.274, -0.003, 0.293] +============================================================ + + +============================================================ +SCENE: LivingRoom-2715 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0006, Walkable Loss: 2.2030 (Center Penalty: 0.2800, C1 Heatmap: 0.7187, C2 Repulsion: 6.7404), Relational Loss: 0.0272 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 1.082 0.969 1.096 -0.598 1.704 1.657 -0.03° +table 1.079 0.380 0.784 -1.370 -0.001 1.317 90.12° +tv_stand 1.452 0.699 0.288 0.437 -0.004 1.514 -90.77° +sofa 1.830 0.894 0.637 -1.262 -0.016 1.868 91.87° +table 1.084 0.665 0.553 -1.059 -0.010 -2.178 0.56° +table 1.677 0.514 0.609 -1.674 0.011 3.439 -137.77° +table 1.254 0.373 0.656 -1.344 -0.003 -0.795 0.33° +chair 0.371 1.028 0.467 -1.844 -0.001 -1.882 -179.59° +chair 0.424 0.940 0.214 -0.766 0.005 -2.114 -165.64° +chair 0.397 0.920 0.444 -1.853 -0.004 -2.933 -0.03° +chair 0.435 0.883 0.292 -1.185 0.004 -2.807 -69.06° +lamp 0.992 0.920 0.702 -1.427 1.661 -2.504 -0.08° +table 0.316 1.466 0.399 0.830 0.003 -0.826 -89.93° +floor 4.108 0.001 7.117 -0.804 0.002 0.404 -0.02° +_scene_ 0.074 0.000 0.029 -5.661 -0.005 -5.707 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.079, 0.380, 0.159] + !! OVERLAP: table <-> floor depth=[1.079, 0.001, 0.784] + !! OVERLAP: tv_stand <-> floor depth=[1.452, 0.001, 0.288] + !! OVERLAP: sofa <-> floor depth=[1.830, 0.001, 0.637] + !! OVERLAP: table <-> chair depth=[0.424, 0.665, 0.214] + !! OVERLAP: table <-> floor depth=[1.084, 0.001, 0.553] + !! OVERLAP: table <-> floor depth=[1.677, 0.001, 0.609] + !! OVERLAP: table <-> floor depth=[1.254, 0.001, 0.656] + !! OVERLAP: chair <-> floor depth=[0.371, 0.001, 0.467] + !! OVERLAP: chair <-> floor depth=[0.424, 0.001, 0.214] + !! OVERLAP: chair <-> floor depth=[0.397, 0.001, 0.444] + !! OVERLAP: chair <-> floor depth=[0.435, 0.001, 0.292] + !! OVERLAP: table <-> floor depth=[0.316, 0.001, 0.399] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-10201 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2592 (Center Penalty: 0.1760, C1 Heatmap: 0.7426, C2 Repulsion: 2.4459), Relational Loss: 0.0134 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +tv_stand 2.307 0.822 0.484 -1.499 -0.001 -1.549 90.05° +table 0.367 0.294 0.375 0.189 -0.003 -2.225 -90.00° +lamp 0.483 0.785 0.495 0.382 2.028 -1.909 -0.03° +lamp 0.918 0.940 0.927 1.296 1.743 2.341 -0.12° +sofa 2.537 0.740 1.004 2.025 -0.001 -2.062 -90.22° +table 0.568 0.754 0.538 -0.123 0.000 2.951 0.04° +chair 0.512 0.917 0.550 -0.603 0.004 1.828 89.98° +chair 0.447 0.952 0.528 -0.567 0.001 2.977 90.03° +chair 0.533 0.791 0.553 1.807 -0.001 1.968 -90.08° +chair 0.446 0.946 0.538 1.860 -0.000 3.215 -89.93° +table 1.153 0.410 0.999 1.808 0.000 -0.346 -90.06° +floor 6.168 0.001 6.878 0.337 0.003 0.873 -0.03° +_scene_ 0.071 -0.001 0.022 -5.674 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: tv_stand <-> floor depth=[2.307, 0.001, 0.484] + !! OVERLAP: table <-> floor depth=[0.367, 0.001, 0.375] + !! OVERLAP: sofa <-> floor depth=[2.537, 0.001, 1.004] + !! OVERLAP: table <-> chair depth=[0.063, 0.754, 0.507] + !! OVERLAP: table <-> floor depth=[0.568, 0.001, 0.538] + !! OVERLAP: chair <-> floor depth=[0.512, 0.001, 0.550] + !! OVERLAP: chair <-> floor depth=[0.447, 0.001, 0.528] + !! OVERLAP: chair <-> floor depth=[0.533, 0.001, 0.553] + !! OVERLAP: chair <-> floor depth=[0.446, 0.001, 0.538] + !! OVERLAP: table <-> floor depth=[1.153, 0.001, 0.999] +============================================================ + + +============================================================ +SCENE: LivingRoom-24701 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0027, Walkable Loss: 1.2708 (Center Penalty: 0.3341, C1 Heatmap: 0.5328, C2 Repulsion: 2.5523), Relational Loss: 0.0247 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.554 0.602 0.573 2.103 -0.000 1.255 -90.12° +tv_stand 1.823 0.532 0.249 -1.059 0.013 0.444 90.07° +table 1.397 1.850 0.433 0.432 0.001 -0.853 -179.91° +table 0.696 0.535 0.488 1.948 0.001 -1.439 -0.10° +sofa 1.486 0.799 0.640 2.099 0.001 -0.068 -89.87° +chair 0.673 0.946 0.732 0.928 0.002 0.793 -114.91° +floor 5.918 -0.008 4.929 0.932 0.003 0.785 0.43° +_scene_ 0.060 0.028 0.186 -5.433 0.007 -5.496 -58.58° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.554, -0.008, 0.573] + !! OVERLAP: tv_stand <-> floor depth=[1.823, -0.008, 0.249] + !! OVERLAP: table <-> floor depth=[1.397, -0.008, 0.433] + !! OVERLAP: table <-> floor depth=[0.696, -0.008, 0.485] + !! OVERLAP: sofa <-> floor depth=[1.486, -0.008, 0.640] + !! OVERLAP: chair <-> floor depth=[0.673, -0.008, 0.732] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-11440 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0300, Walkable Loss: 1.4595 (Center Penalty: 0.5545, C1 Heatmap: 0.5144, C2 Repulsion: 2.4670), Relational Loss: 0.0069 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.649 1.025 0.835 1.309 -0.003 2.116 -89.88° +table 0.775 0.765 0.758 -0.205 -0.008 2.087 -0.22° +tv_stand 1.879 0.799 0.296 -1.156 0.002 0.721 90.03° +table 0.699 0.575 0.334 0.871 0.012 -1.176 90.04° +chair 0.336 0.712 0.272 0.511 0.002 -0.565 179.84° +chair 0.310 0.645 0.321 0.214 0.000 -1.327 0.02° +chair 0.435 0.579 0.385 1.642 0.000 -0.722 179.91° +chair 0.413 0.692 0.394 1.511 -0.000 -1.795 -0.05° +cabinet 0.876 1.064 0.068 0.264 -0.002 -2.516 0.28° +lamp 0.694 0.826 0.586 0.046 1.803 1.373 0.09° +lamp 0.254 1.073 0.275 1.098 1.831 -1.274 -0.01° +floor 4.200 -0.001 7.407 0.003 -0.001 0.977 0.15° +_scene_ 0.071 0.001 0.023 -5.667 -0.004 -5.712 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.619, -0.001, 0.835] + !! OVERLAP: table <-> floor depth=[0.775, -0.001, 0.758] + !! OVERLAP: tv_stand <-> floor depth=[1.879, -0.001, 0.296] + !! OVERLAP: table <-> floor depth=[0.699, -0.001, 0.334] + !! OVERLAP: chair <-> floor depth=[0.336, -0.001, 0.272] + !! OVERLAP: chair <-> floor depth=[0.310, -0.001, 0.321] + !! OVERLAP: chair <-> floor depth=[0.435, -0.001, 0.385] + !! OVERLAP: chair <-> floor depth=[0.413, -0.001, 0.394] + !! OVERLAP: cabinet <-> floor depth=[0.876, -0.001, 0.068] +============================================================ + + +============================================================ +SCENE: LivingRoom-37001 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1788, Walkable Loss: 2.1378 (Center Penalty: 0.5116, C1 Heatmap: 0.6765, C2 Repulsion: 5.4251), Relational Loss: 0.0131 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 2.511 0.884 1.198 1.038 -0.006 -0.800 -0.21° +table 1.373 0.520 0.495 0.715 0.001 -0.515 -0.02° +shelf 0.150 2.224 0.384 2.949 0.003 -0.852 -0.49° +cabinet 0.787 1.144 0.314 -1.376 0.007 0.848 179.98° +table 1.209 0.743 0.630 -3.361 0.001 -0.539 89.69° +chair 0.559 0.775 0.489 -3.535 0.001 -0.452 89.97° +chair 0.603 0.774 0.493 -3.460 0.001 -1.180 89.92° +chair 0.495 0.687 0.504 -2.101 -0.000 -0.402 -90.03° +chair 0.480 0.641 0.522 -2.117 -0.008 -1.250 -89.90° +lamp 0.806 0.835 0.817 1.142 1.785 -0.044 0.00° +lamp 0.871 0.975 0.858 -3.021 1.752 -0.690 0.03° +floor 7.204 0.004 3.171 -0.507 0.009 -0.759 0.14° +_scene_ 0.064 -0.000 0.018 -5.678 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> table depth=[1.373, 0.520, 0.495] + !! OVERLAP: sofa <-> floor depth=[2.511, 0.004, 1.198] + !! OVERLAP: table <-> floor depth=[1.373, 0.004, 0.495] + !! OVERLAP: shelf <-> floor depth=[0.150, 0.004, 0.384] + !! OVERLAP: cabinet <-> floor depth=[0.787, 0.004, 0.136] + !! OVERLAP: table <-> chair depth=[0.559, 0.743, 0.472] + !! OVERLAP: table <-> floor depth=[1.209, 0.004, 0.630] + !! OVERLAP: chair <-> floor depth=[0.559, 0.004, 0.489] + !! OVERLAP: chair <-> floor depth=[0.603, 0.004, 0.493] + !! OVERLAP: chair <-> floor depth=[0.495, 0.004, 0.504] + !! OVERLAP: chair <-> floor depth=[0.480, 0.004, 0.522] +============================================================ + + +============================================================ +SCENE: LivingRoom-1255 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5704 (Center Penalty: 0.5135, C1 Heatmap: 0.6959, C2 Repulsion: 2.5011), Relational Loss: 0.0400 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 3.105 2.530 0.280 0.153 -0.012 1.406 -179.63° +sofa 1.637 1.036 0.718 0.820 0.005 -1.334 -90.11° +table 0.821 0.621 0.830 1.172 -0.013 0.391 -0.34° +table 1.028 0.430 0.771 -0.240 -0.003 -1.314 -90.14° +lamp 0.280 0.640 0.222 0.843 2.299 0.629 -0.02° +floor 3.225 0.004 4.666 0.116 -0.008 -0.764 -0.07° +_scene_ 0.068 0.002 0.029 -5.671 -0.005 -5.711 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[3.105, 0.004, 0.280] + !! OVERLAP: sofa <-> table depth=[0.272, 0.430, 0.718] + !! OVERLAP: sofa <-> floor depth=[1.637, 0.004, 0.718] + !! OVERLAP: table <-> floor depth=[0.821, 0.004, 0.830] + !! OVERLAP: table <-> floor depth=[1.028, 0.004, 0.771] +============================================================ + + +============================================================ +SCENE: LivingRoom-3168 | 17 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3622 (Center Penalty: 0.4072, C1 Heatmap: 0.6561, C2 Repulsion: 7.1504), Relational Loss: 0.0168 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.005 0.730 0.794 0.087 -0.004 -3.017 -0.14° +chair 0.347 1.017 0.449 1.039 0.002 -2.533 0.02° +chair 0.476 0.936 0.469 0.954 -0.001 -1.684 -179.79° +chair 0.392 0.998 0.496 0.900 0.001 -1.689 -179.94° +chair 0.489 1.012 0.550 0.464 -0.001 -3.235 -0.04° +lamp 0.741 0.836 0.740 -0.085 1.834 1.762 -0.03° +sofa 1.394 0.915 0.483 -2.114 -0.008 1.834 90.58° +chair 0.740 0.834 0.712 -0.406 0.003 3.241 -169.59° +chair 0.794 0.859 0.749 0.133 0.002 3.382 -166.27° +table 1.364 0.389 0.784 0.036 -0.001 1.698 90.00° +table 0.457 0.653 0.406 -1.800 0.005 0.288 90.03° +table 0.501 0.545 0.407 -1.838 -0.003 3.421 0.10° +chair 0.489 0.476 0.474 -0.484 -0.003 0.569 0.01° +table 1.292 0.721 0.290 -2.351 0.002 -1.619 90.02° +lamp 0.883 1.094 0.857 0.041 1.712 -2.391 0.01° +floor 5.134 -0.002 8.608 -1.021 0.001 0.522 -0.04° +_scene_ 0.080 0.001 0.020 -5.678 -0.006 -5.704 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.223, 0.730, 0.139] + !! OVERLAP: table <-> chair depth=[0.489, 0.730, 0.454] + !! OVERLAP: table <-> floor depth=[2.005, -0.002, 0.794] + !! OVERLAP: chair <-> floor depth=[0.347, -0.002, 0.449] + !! OVERLAP: chair <-> chair depth=[0.380, 0.936, 0.469] + !! OVERLAP: chair <-> floor depth=[0.476, -0.002, 0.469] + !! OVERLAP: chair <-> floor depth=[0.392, -0.002, 0.496] + !! OVERLAP: chair <-> floor depth=[0.489, -0.002, 0.550] + !! OVERLAP: sofa <-> floor depth=[1.394, -0.002, 0.483] + !! OVERLAP: chair <-> chair depth=[0.227, 0.834, 0.589] + !! OVERLAP: chair <-> floor depth=[0.740, -0.002, 0.712] + !! OVERLAP: chair <-> floor depth=[0.794, -0.002, 0.749] + !! OVERLAP: table <-> floor depth=[1.364, -0.002, 0.784] + !! OVERLAP: table <-> floor depth=[0.457, -0.002, 0.406] + !! OVERLAP: table <-> floor depth=[0.501, -0.002, 0.407] + !! OVERLAP: chair <-> floor depth=[0.489, -0.002, 0.474] + !! OVERLAP: table <-> floor depth=[1.292, -0.002, 0.290] +============================================================ + + +============================================================ +SCENE: LivingRoom-26286 | 16 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5026 (Center Penalty: 0.2039, C1 Heatmap: 0.5430, C2 Repulsion: 4.3219), Relational Loss: 0.0230 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.299 1.034 0.375 2.014 0.005 -0.788 -0.41° +chair 0.361 0.909 0.085 2.763 -0.008 -0.905 -31.06° +chair 0.333 0.935 0.382 1.837 0.004 0.219 -89.50° +chair 0.334 0.922 0.359 2.781 0.004 0.329 -90.01° +chair 0.424 0.816 0.443 -2.712 0.003 -0.137 89.80° +sofa 1.497 0.803 0.176 -1.879 -0.001 1.993 -179.41° +table 0.876 0.547 0.859 -0.163 0.002 1.284 -0.04° +table 0.795 0.492 0.457 -2.693 -0.009 0.990 0.21° +table 1.133 0.419 0.579 -1.289 -0.008 -0.492 0.11° +table 0.612 0.590 0.549 2.708 -0.005 -0.270 -0.55° +table 1.022 1.517 0.262 1.367 0.003 1.781 179.93° +table 0.698 0.543 0.697 -1.670 0.009 0.656 -0.09° +lamp 0.309 0.446 0.308 -1.399 2.160 0.090 0.00° +lamp 0.779 0.709 0.334 1.986 1.894 -0.090 0.01° +floor 6.229 0.009 4.050 -0.091 -0.004 1.018 0.34° +_scene_ 0.070 -0.000 0.030 -5.640 -0.002 -5.687 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.299, 0.009, 0.375] + !! OVERLAP: chair <-> floor depth=[0.361, 0.009, 0.085] + !! OVERLAP: chair <-> floor depth=[0.333, 0.009, 0.382] + !! OVERLAP: chair <-> floor depth=[0.334, 0.009, 0.359] + !! OVERLAP: chair <-> floor depth=[0.424, 0.009, 0.443] + !! OVERLAP: sofa <-> floor depth=[1.497, 0.009, 0.176] + !! OVERLAP: table <-> floor depth=[0.876, 0.009, 0.859] + !! OVERLAP: table <-> floor depth=[0.795, 0.009, 0.457] + !! OVERLAP: table <-> floor depth=[1.133, 0.009, 0.579] + !! OVERLAP: table <-> floor depth=[0.612, 0.009, 0.549] + !! OVERLAP: table <-> floor depth=[1.022, 0.009, 0.262] + !! OVERLAP: table <-> floor depth=[0.698, 0.009, 0.697] +============================================================ + + +============================================================ +SCENE: LivingRoom-4960 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1442, Walkable Loss: 1.3140 (Center Penalty: 0.5639, C1 Heatmap: 0.4790, C2 Repulsion: 1.8339), Relational Loss: 0.0190 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.437 0.903 0.621 0.169 -0.003 -1.493 -0.15° +table 0.962 0.882 0.567 0.915 0.016 -0.177 -0.30° +table 0.441 0.515 0.466 -1.225 0.001 -1.495 -0.12° +chair 0.605 0.814 0.661 -1.347 0.006 -0.375 66.93° +table 0.548 0.520 0.439 1.857 0.001 -1.501 -0.02° +chair 0.488 0.394 0.363 1.991 -0.001 -0.005 -89.91° +lamp 0.585 0.892 0.458 1.000 1.771 -0.071 0.08° +tv_stand 1.816 0.550 0.205 1.050 0.012 1.350 179.99° +floor 4.767 -0.013 3.564 0.731 -0.006 -0.473 -0.79° +_scene_ 0.062 0.001 0.020 -5.670 -0.004 -5.711 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.437, -0.013, 0.621] + !! OVERLAP: table <-> floor depth=[0.962, -0.013, 0.567] + !! OVERLAP: table <-> floor depth=[0.441, -0.013, 0.466] + !! OVERLAP: chair <-> floor depth=[0.605, -0.013, 0.661] + !! OVERLAP: table <-> floor depth=[0.548, -0.013, 0.439] + !! OVERLAP: chair <-> floor depth=[0.488, -0.013, 0.363] + !! OVERLAP: tv_stand <-> floor depth=[1.816, -0.013, 0.060] +============================================================ + + +============================================================ +SCENE: LivingRoom-2410 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0939, Walkable Loss: 1.8138 (Center Penalty: 0.4584, C1 Heatmap: 0.4153, C2 Repulsion: 5.1159), Relational Loss: 0.0311 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.423 0.470 0.608 0.475 0.015 1.491 0.51° +sofa 1.932 0.810 0.716 -0.684 -0.001 1.034 89.94° +table 0.531 0.695 -0.129 0.955 -0.012 -1.371 -2.47° +chair 0.412 0.970 0.446 1.235 0.001 -1.724 -90.17° +chair 0.409 1.000 0.421 1.318 0.008 -0.477 -179.99° +chair 0.422 1.024 0.139 0.590 -0.013 -0.991 179.93° +chair 0.510 0.999 0.637 -0.103 0.002 -1.747 90.05° +chair 0.324 0.940 0.294 0.790 -0.003 -0.790 -179.58° +chair 0.351 0.887 0.567 0.619 0.005 -2.201 0.18° +bookshelf 0.382 1.245 0.134 -1.403 -0.001 1.830 0.10° +floor 4.301 0.009 5.749 0.575 0.007 -0.641 0.03° +_scene_ 0.067 0.003 0.028 -5.660 -0.004 -5.697 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[0.019, 0.470, 0.205] + !! OVERLAP: table <-> floor depth=[0.423, 0.009, 0.608] + !! OVERLAP: sofa <-> floor depth=[1.858, 0.009, 0.716] + !! OVERLAP: table <-> floor depth=[0.531, 0.009, -0.129] + !! OVERLAP: chair <-> floor depth=[0.412, 0.009, 0.446] + !! OVERLAP: chair <-> floor depth=[0.409, 0.009, 0.421] + !! OVERLAP: chair <-> chair depth=[0.172, 0.940, 0.015] + !! OVERLAP: chair <-> floor depth=[0.422, 0.009, 0.139] + !! OVERLAP: chair <-> floor depth=[0.510, 0.009, 0.637] + !! OVERLAP: chair <-> floor depth=[0.324, 0.009, 0.294] + !! OVERLAP: chair <-> floor depth=[0.351, 0.009, 0.567] + !! OVERLAP: bookshelf <-> floor depth=[0.363, 0.009, 0.134] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-17836 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1945, Walkable Loss: 1.9359 (Center Penalty: 0.3581, C1 Heatmap: 0.6203, C2 Repulsion: 5.4075), Relational Loss: 0.0220 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.480 0.521 0.432 0.083 0.001 1.182 179.93° +table 0.329 0.544 0.294 -2.654 0.001 1.249 179.98° +table 0.831 0.421 0.755 -1.465 0.005 -0.010 -0.13° +sofa 1.428 1.015 0.086 -1.295 0.010 1.279 179.94° +chair 0.595 0.754 1.053 -1.084 0.001 0.085 -90.15° +chair 0.710 0.800 0.800 -3.419 -0.001 0.156 90.04° +table 0.581 0.760 0.048 1.678 0.034 0.730 0.72° +chair 0.378 0.855 0.411 1.735 0.000 0.179 0.09° +chair 0.334 0.919 0.365 2.187 -0.002 -0.440 -0.06° +chair 0.183 1.011 0.342 2.621 0.010 -0.041 -90.03° +chair 0.367 0.879 0.327 1.705 0.000 1.185 179.76° +chair 0.288 0.949 0.353 2.390 0.001 1.284 179.95° +chair 0.206 0.906 0.440 2.600 0.001 1.089 -90.72° +tv_stand 2.201 0.777 0.357 -2.065 0.008 -1.668 -0.08° +lamp 0.308 0.937 0.295 -1.600 1.592 -0.091 -0.01° +lamp 0.198 1.077 0.200 2.453 0.999 0.551 0.01° +table 0.972 1.607 0.393 2.098 -0.008 -1.725 0.04° +floor 7.140 0.000 3.323 -0.878 0.001 -0.297 0.07° +_scene_ 0.075 -0.001 0.025 -5.669 -0.004 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.480, 0.000, 0.398] + !! OVERLAP: table <-> floor depth=[0.329, 0.000, 0.261] + !! OVERLAP: table <-> chair depth=[0.332, 0.421, 0.755] + !! OVERLAP: table <-> floor depth=[0.831, 0.000, 0.755] + !! OVERLAP: sofa <-> floor depth=[1.428, 0.000, 0.086] + !! OVERLAP: chair <-> floor depth=[0.595, 0.000, 1.053] + !! OVERLAP: chair <-> floor depth=[0.710, 0.000, 0.800] + !! OVERLAP: table <-> floor depth=[0.581, 0.000, 0.048] + !! OVERLAP: chair <-> floor depth=[0.378, 0.000, 0.411] + !! OVERLAP: chair <-> floor depth=[0.334, 0.000, 0.365] + !! OVERLAP: chair <-> floor depth=[0.163, 0.000, 0.342] + !! OVERLAP: chair <-> floor depth=[0.367, 0.000, 0.327] + !! OVERLAP: chair <-> chair depth=[0.038, 0.906, 0.201] + !! OVERLAP: chair <-> floor depth=[0.288, 0.000, 0.256] + !! OVERLAP: chair <-> floor depth=[0.196, 0.000, 0.440] + !! OVERLAP: tv_stand <-> floor depth=[2.201, 0.000, 0.357] + !! OVERLAP: table <-> floor depth=[0.972, 0.000, 0.393] +============================================================ + + +============================================================ +SCENE: LivingRoom-52289 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1293 (Center Penalty: 1.3026, C1 Heatmap: 0.5919, C2 Repulsion: 1.7659), Relational Loss: 0.0191 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.504 0.881 0.726 -0.795 1.925 -0.361 0.66° +chair 0.767 0.787 0.815 -1.800 -0.002 0.183 115.82° +sofa 2.320 0.953 0.801 -0.643 0.009 -1.334 -0.03° +table 0.657 0.522 0.632 1.029 0.002 -1.349 -0.04° +table 0.747 0.508 0.728 1.689 0.001 0.195 -100.25° +table 0.773 0.370 0.742 -0.598 -0.005 0.761 0.01° +floor 4.684 -0.003 3.645 -0.215 -0.004 -0.001 0.00° +_scene_ 0.068 0.018 0.048 -5.620 -0.001 -5.644 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.767, -0.003, 0.815] + !! OVERLAP: sofa <-> floor depth=[2.320, -0.003, 0.801] + !! OVERLAP: table <-> floor depth=[0.657, -0.003, 0.632] + !! OVERLAP: table <-> floor depth=[0.747, -0.003, 0.728] + !! OVERLAP: table <-> floor depth=[0.773, -0.003, 0.742] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-19931 | 19 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0792, Walkable Loss: 1.8683 (Center Penalty: 0.3278, C1 Heatmap: 0.6118, C2 Repulsion: 5.2551), Relational Loss: 0.0169 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.938 0.941 0.624 -1.800 0.005 -2.018 90.14° +chair 0.800 0.808 0.806 0.302 0.005 -4.053 -16.63° +table 1.108 0.346 0.737 0.212 0.007 -1.788 89.95° +cabinet 0.498 1.699 0.223 1.537 0.038 2.927 -90.04° +table 0.666 0.985 0.327 0.076 -0.058 1.827 -13.96° +chair 0.417 0.793 0.492 0.045 -0.001 1.229 0.04° +chair 0.413 0.797 0.421 0.923 -0.001 1.547 -90.05° +chair 0.381 0.827 0.456 0.820 0.001 2.592 -89.74° +chair 0.385 0.787 0.444 -0.066 0.000 2.648 179.86° +chair 0.500 0.817 0.467 -0.998 -0.000 2.601 90.02° +chair 0.514 0.823 0.498 -1.094 0.006 1.487 89.94° +tv_stand 1.391 0.357 0.089 1.121 -0.008 -2.313 -89.87° +table 0.419 0.430 0.399 -1.339 0.003 -0.505 89.99° +table 0.413 0.471 0.409 -1.353 0.003 -3.429 89.66° +chair 0.676 0.867 0.643 -0.337 -0.001 -0.931 170.58° +lamp 0.448 0.637 0.465 0.089 1.916 -2.101 -0.05° +lamp 0.424 0.392 0.396 0.299 2.112 2.052 0.05° +floor 4.637 -0.010 7.763 -0.474 0.009 -0.922 -0.40° +_scene_ 0.071 0.003 0.019 -5.671 -0.005 -5.712 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.938, -0.010, 0.624] + !! OVERLAP: chair <-> floor depth=[0.800, -0.010, 0.806] + !! OVERLAP: table <-> floor depth=[1.108, -0.010, 0.737] + !! OVERLAP: cabinet <-> floor depth=[0.498, -0.010, 0.144] + !! OVERLAP: table <-> floor depth=[0.666, -0.010, 0.327] + !! OVERLAP: chair <-> floor depth=[0.417, -0.010, 0.492] + !! OVERLAP: chair <-> floor depth=[0.413, -0.010, 0.421] + !! OVERLAP: chair <-> floor depth=[0.381, -0.010, 0.456] + !! OVERLAP: chair <-> floor depth=[0.385, -0.010, 0.444] + !! OVERLAP: chair <-> floor depth=[0.500, -0.010, 0.467] + !! OVERLAP: chair <-> floor depth=[0.514, -0.010, 0.498] + !! OVERLAP: tv_stand <-> floor depth=[1.391, -0.010, 0.089] + !! OVERLAP: table <-> floor depth=[0.419, -0.010, 0.399] + !! OVERLAP: table <-> floor depth=[0.413, -0.010, 0.409] + !! OVERLAP: chair <-> floor depth=[0.676, -0.010, 0.643] +============================================================ + + +============================================================ +SCENE: LivingRoom-4789 | 23 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0312, Walkable Loss: 2.1578 (Center Penalty: 0.1856, C1 Heatmap: 0.5583, C2 Repulsion: 7.6281), Relational Loss: 0.0142 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +sofa 1.639 0.893 0.468 -2.456 -0.013 2.481 90.13° +chair 0.874 0.856 0.944 -0.553 0.001 4.015 179.56° +table 1.081 0.483 0.806 -0.143 0.002 2.340 90.06° +table 0.346 0.747 0.408 -1.914 0.000 4.142 90.08° +table 0.488 0.547 0.447 -1.873 0.004 1.037 90.07° +table 0.439 0.503 0.403 -1.732 0.004 3.270 90.01° +table 1.288 0.708 0.115 -1.621 0.009 -2.185 1.10° +chair 0.413 1.068 0.515 -2.125 -0.004 -3.118 -1.10° +chair 0.473 1.161 0.545 -1.105 -0.002 -3.027 0.15° +chair 0.472 1.177 0.602 -0.148 0.002 -2.334 -90.12° +chair 0.460 1.142 0.530 -2.234 -0.003 -1.637 179.68° +chair 0.469 1.176 0.492 -0.942 -0.000 -1.571 -180.00° +table 1.455 0.776 0.312 -1.370 -0.008 -0.760 0.10° +table 0.362 0.494 0.364 -1.912 0.001 0.025 90.05° +table 0.788 0.958 0.437 -1.123 0.010 -3.791 -89.69° +chair 0.453 0.459 0.423 -0.846 -0.002 1.117 4.60° +lamp 0.873 0.977 0.851 -0.651 1.811 2.213 0.00° +lamp 0.679 0.625 0.414 -0.956 2.128 0.557 90.14° +lamp 0.547 0.171 0.495 1.318 2.534 0.115 -0.04° +lamp 0.473 0.658 0.479 -1.510 2.246 -1.979 -0.05° +lamp 0.686 0.763 0.527 0.097 2.204 -3.521 90.24° +floor 5.288 0.003 9.650 -1.084 -0.004 0.659 0.02° +_scene_ 0.071 0.000 0.024 -5.662 -0.004 -5.708 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: sofa <-> floor depth=[1.639, 0.003, 0.468] + !! OVERLAP: chair <-> floor depth=[0.874, 0.003, 0.944] + !! OVERLAP: table <-> floor depth=[1.081, 0.003, 0.806] + !! OVERLAP: table <-> floor depth=[0.346, 0.003, 0.408] + !! OVERLAP: table <-> floor depth=[0.488, 0.003, 0.447] + !! OVERLAP: table <-> floor depth=[0.439, 0.003, 0.403] + !! OVERLAP: table <-> floor depth=[1.288, 0.003, 0.115] + !! OVERLAP: chair <-> floor depth=[0.413, 0.003, 0.515] + !! OVERLAP: chair <-> floor depth=[0.473, 0.003, 0.545] + !! OVERLAP: chair <-> floor depth=[0.472, 0.003, 0.602] + !! OVERLAP: chair <-> floor depth=[0.460, 0.003, 0.530] + !! OVERLAP: chair <-> floor depth=[0.469, 0.003, 0.492] + !! OVERLAP: table <-> floor depth=[1.455, 0.003, 0.312] + !! OVERLAP: table <-> floor depth=[0.362, 0.003, 0.364] + !! OVERLAP: table <-> floor depth=[0.788, 0.003, 0.437] + !! OVERLAP: chair <-> floor depth=[0.453, 0.003, 0.423] +============================================================ + + +============================================================ +SCENE: LivingDiningRoom-814 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8984 (Center Penalty: 0.3351, C1 Heatmap: 0.5560, C2 Repulsion: 0.5927), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 2.258 0.087 2.041 -0.128 -0.024 1.503 1.60° +chair 0.469 0.776 0.515 -0.026 0.006 -1.129 -0.07° +chair 0.398 0.802 0.479 -1.095 0.003 -0.681 -0.01° +floor 4.998 0.007 6.201 0.734 0.002 0.489 -0.20° +_scene_ 0.050 0.005 0.015 -5.655 -0.006 -5.717 -57.22° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[2.258, 0.007, 2.041] + !! OVERLAP: chair <-> floor depth=[0.469, 0.007, 0.515] + !! OVERLAP: chair <-> floor depth=[0.398, 0.007, 0.479] +============================================================ + + +============================================================ +SCENE: LivingRoom-35461 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1242, Walkable Loss: 1.1134 (Center Penalty: 0.4120, C1 Heatmap: 0.3665, C2 Repulsion: 2.0409), Relational Loss: 0.0241 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.695 1.144 0.744 -1.469 0.003 0.941 65.07° +tv_stand 1.007 0.436 0.154 0.429 -0.002 1.232 -90.45° +table 0.419 0.775 0.261 -1.650 -0.001 2.556 49.72° +cabinet 0.457 1.000 0.288 0.685 0.005 2.384 -90.14° +lamp 0.432 0.664 0.416 -0.529 2.232 1.040 0.07° +lamp 1.102 0.914 1.090 -0.788 1.794 -2.479 -89.92° +lamp 1.009 0.923 1.021 -1.031 1.930 -2.269 -89.85° +table 1.381 0.681 0.665 -1.063 0.021 0.721 0.15° +chair 0.518 0.939 0.553 -0.910 0.001 -0.551 0.08° +chair 0.563 0.892 0.571 -0.563 0.001 2.232 179.96° +floor 3.209 0.009 7.237 -0.744 -0.002 -0.577 0.27° +_scene_ 0.064 -0.002 0.016 -5.678 -0.006 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> table depth=[0.632, 0.681, 0.484] + !! OVERLAP: chair <-> floor depth=[0.695, 0.009, 0.744] + !! OVERLAP: tv_stand <-> floor depth=[0.936, 0.009, 0.154] + !! OVERLAP: table <-> floor depth=[0.419, 0.009, 0.261] + !! OVERLAP: cabinet <-> floor depth=[0.404, 0.009, 0.288] + !! OVERLAP: lamp <-> lamp depth=[0.812, 0.782, 0.846] + !! OVERLAP: table <-> floor depth=[1.381, 0.009, 0.665] + !! OVERLAP: chair <-> floor depth=[0.518, 0.009, 0.553] + !! OVERLAP: chair <-> floor depth=[0.563, 0.009, 0.571] +============================================================ + + +============================================================ +SCENE: LivingRoom-360 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3620 (Center Penalty: 0.5205, C1 Heatmap: 0.5373, C2 Repulsion: 2.0579), Relational Loss: 0.0039 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.704 0.733 0.886 -1.693 0.002 0.346 89.95° +sofa 1.965 0.833 0.808 1.185 0.010 0.473 -89.92° +chair 0.498 0.990 0.613 0.583 -0.007 0.601 -89.49° +chair 0.487 0.885 0.508 -1.824 -0.000 0.814 89.90° +lamp 0.876 0.735 0.853 0.988 1.973 0.133 0.03° +lamp 0.591 0.677 0.543 -1.290 2.104 0.433 0.15° +floor 6.349 -0.026 2.806 -0.933 -0.010 0.668 -0.15° +_scene_ 0.078 0.002 0.024 -5.666 -0.004 -5.708 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.487, 0.733, 0.229] + !! OVERLAP: table <-> floor depth=[1.704, -0.026, 0.886] + !! OVERLAP: sofa <-> chair depth=[0.498, 0.833, 0.583] + !! OVERLAP: sofa <-> floor depth=[1.965, -0.026, 0.808] + !! OVERLAP: chair <-> floor depth=[0.498, -0.026, 0.613] + !! OVERLAP: chair <-> floor depth=[0.487, -0.026, 0.508] +============================================================ + + +============================================================ +SCENE: DiningRoom-15534 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0641, Walkable Loss: 2.3556 (Center Penalty: 1.2468, C1 Heatmap: 0.5592, C2 Repulsion: 3.3072), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.963 0.766 0.447 -0.319 0.008 -1.058 -91.10° +chair 0.436 0.911 0.509 -1.648 0.000 0.234 90.07° +chair 0.452 0.873 0.503 -1.437 -0.001 -0.909 90.01° +chair 0.415 0.902 0.510 1.323 0.004 0.169 -90.27° +chair 0.421 0.905 0.482 1.177 0.001 -0.836 -90.02° +cabinet 2.773 2.481 0.270 0.459 0.003 1.423 179.97° +lamp 0.034 1.023 0.061 0.234 1.121 -0.931 -0.11° +lamp 0.014 0.967 0.055 -0.800 1.135 0.359 -0.08° +floor 4.343 -0.005 3.092 -0.390 -0.002 0.095 0.06° +_scene_ 0.068 0.000 0.019 -5.674 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.090, 0.766, 0.327] + !! OVERLAP: table <-> floor depth=[1.963, -0.005, 0.447] + !! OVERLAP: chair <-> floor depth=[0.436, -0.005, 0.509] + !! OVERLAP: chair <-> floor depth=[0.452, -0.005, 0.503] + !! OVERLAP: chair <-> floor depth=[0.415, -0.005, 0.510] + !! OVERLAP: chair <-> floor depth=[0.421, -0.005, 0.482] + !! OVERLAP: cabinet <-> floor depth=[2.709, -0.005, 0.270] +============================================================ + + +============================================================ +SCENE: DiningRoom-31158 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2775 (Center Penalty: 1.7276, C1 Heatmap: 0.1437, C2 Repulsion: 2.1750), Relational Loss: 0.0135 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.368 0.794 0.547 -1.110 0.004 -0.250 88.44° +chair 0.521 0.799 0.486 0.092 -0.002 0.854 -179.90° +chair 0.401 0.818 0.487 -0.754 0.001 0.599 179.74° +chair 0.375 0.759 0.292 -0.399 0.008 -0.799 -0.08° +chair 0.316 0.750 0.383 -1.018 -0.007 -0.605 0.05° +lamp 0.312 1.256 0.504 -1.536 1.446 0.560 3.85° +floor 3.784 -0.002 2.294 -0.006 -0.001 0.011 -0.08° +_scene_ 0.069 -0.000 0.022 -5.674 -0.005 -5.714 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.250, 0.750, 0.110] + !! OVERLAP: table <-> floor depth=[0.368, -0.002, 0.547] + !! OVERLAP: chair <-> floor depth=[0.521, -0.002, 0.486] + !! OVERLAP: chair <-> floor depth=[0.401, -0.002, 0.487] + !! OVERLAP: chair <-> floor depth=[0.375, -0.002, 0.292] + !! OVERLAP: chair <-> floor depth=[0.316, -0.002, 0.383] +============================================================ + + +============================================================ +SCENE: DiningRoom-197500 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1935, Walkable Loss: 2.7376 (Center Penalty: 1.1945, C1 Heatmap: 0.4815, C2 Repulsion: 5.7893), Relational Loss: 0.0191 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.129 0.726 0.549 -0.451 -0.001 -0.778 179.04° +chair 0.523 0.854 0.547 -0.267 0.001 0.873 -179.95° +chair 0.478 0.819 0.327 0.627 0.003 0.838 -126.03° +chair 0.406 0.843 0.417 0.526 -0.005 -0.875 -41.50° +chair 0.483 0.880 0.466 -0.317 -0.000 -1.059 0.04° +chair 0.393 0.872 0.476 -1.385 -0.001 0.653 138.34° +cabinet 1.802 2.551 0.229 -2.187 0.000 0.035 90.06° +cabinet 1.105 2.069 0.233 1.469 0.007 -0.545 -90.59° +chair 0.406 0.828 0.359 -1.132 -0.001 -0.738 46.08° +cabinet 1.203 2.228 0.154 1.286 0.001 0.701 -90.49° +lamp 0.356 0.579 0.319 -0.717 2.368 -0.450 -0.08° +floor 4.932 -0.004 4.367 -0.595 0.000 -0.690 0.02° +_scene_ 0.067 0.000 0.023 -5.674 -0.005 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.483, 0.726, 0.227] + !! OVERLAP: table <-> chair depth=[0.087, 0.726, 0.359] + !! OVERLAP: table <-> floor depth=[1.129, -0.004, 0.549] + !! OVERLAP: chair <-> floor depth=[0.523, -0.004, 0.547] + !! OVERLAP: chair <-> cabinet depth=[0.181, 0.819, 0.103] + !! OVERLAP: chair <-> floor depth=[0.478, -0.004, 0.327] + !! OVERLAP: chair <-> floor depth=[0.406, -0.004, 0.417] + !! OVERLAP: chair <-> floor depth=[0.483, -0.004, 0.466] + !! OVERLAP: chair <-> floor depth=[0.393, -0.004, 0.476] + !! OVERLAP: cabinet <-> floor depth=[1.774, -0.004, 0.229] + !! OVERLAP: cabinet <-> floor depth=[0.955, -0.004, 0.233] + !! OVERLAP: chair <-> floor depth=[0.406, -0.004, 0.359] + !! OVERLAP: cabinet <-> floor depth=[1.187, -0.004, 0.154] +============================================================ + + +============================================================ +SCENE: DiningRoom-26805 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3771 (Center Penalty: 0.8706, C1 Heatmap: 0.2321, C2 Repulsion: 1.6041), Relational Loss: 0.0198 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.322 0.663 0.352 -0.603 0.006 -1.406 20.09° +table 2.013 0.943 -0.199 0.344 -0.022 -0.757 91.34° +chair 0.365 0.738 0.370 -0.797 -0.000 -0.516 90.06° +chair 0.520 0.754 0.588 -0.823 0.004 1.034 130.67° +chair 0.535 0.753 0.552 0.742 0.004 1.050 -144.64° +chair 0.443 0.773 0.437 0.964 -0.001 -0.188 -90.41° +chair 0.260 0.719 0.302 0.895 0.012 -1.255 -46.92° +floor 4.087 -0.041 4.764 0.593 0.006 0.627 0.15° +_scene_ 0.089 -0.004 0.073 -5.581 -0.002 -5.647 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.322, -0.041, 0.352] + !! OVERLAP: table <-> floor depth=[2.013, -0.041, -0.199] + !! OVERLAP: chair <-> floor depth=[0.365, -0.041, 0.370] + !! OVERLAP: chair <-> floor depth=[0.520, -0.041, 0.588] + !! OVERLAP: chair <-> floor depth=[0.535, -0.041, 0.552] + !! OVERLAP: chair <-> floor depth=[0.443, -0.041, 0.437] + !! OVERLAP: chair <-> floor depth=[0.260, -0.041, 0.302] +============================================================ + + +============================================================ +SCENE: DiningRoom-17995 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6325 (Center Penalty: 0.2278, C1 Heatmap: 0.1476, C2 Repulsion: 1.4329), Relational Loss: 0.0347 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.672 1.457 0.224 1.321 0.004 1.033 179.98° +table 0.850 0.813 0.187 -1.812 0.019 -0.506 0.81° +chair 0.392 0.903 0.496 -1.685 0.001 -1.278 0.04° +chair 0.434 0.897 0.534 -0.764 0.001 -1.179 0.06° +chair 0.354 0.910 0.286 -2.116 0.010 -0.022 114.49° +chair 0.417 0.935 0.260 -1.161 0.025 0.063 -152.71° +lamp 1.044 0.805 0.718 -1.121 1.968 -0.586 -0.15° +floor 4.925 -0.001 3.910 -0.725 -0.009 -0.803 0.01° +_scene_ 0.071 0.001 0.022 -5.674 -0.005 -5.714 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.672, -0.001, 0.224] + !! OVERLAP: table <-> floor depth=[0.850, -0.001, 0.187] + !! OVERLAP: chair <-> floor depth=[0.392, -0.001, 0.496] + !! OVERLAP: chair <-> floor depth=[0.434, -0.001, 0.534] + !! OVERLAP: chair <-> floor depth=[0.354, -0.001, 0.286] + !! OVERLAP: chair <-> floor depth=[0.417, -0.001, 0.260] +============================================================ + + +============================================================ +SCENE: DiningRoom-16628 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0515 (Center Penalty: 1.2331, C1 Heatmap: 0.2222, C2 Repulsion: 3.2030), Relational Loss: 0.0341 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.851 0.722 0.741 -0.211 0.000 0.875 90.57° +chair 0.494 0.797 0.514 1.006 0.004 -0.122 -90.17° +chair 0.340 0.876 0.547 0.917 0.001 0.604 -89.88° +chair 0.482 0.770 0.451 -0.001 0.002 1.529 179.96° +chair 0.421 0.738 0.341 -1.028 0.003 0.701 90.37° +chair 0.409 0.774 0.458 -0.960 0.000 -0.111 90.11° +chair 0.336 0.938 -0.552 -1.339 0.011 -0.132 -3.37° +lamp 1.007 0.652 0.935 -0.225 2.216 0.616 0.31° +floor 2.989 -0.039 3.718 -0.055 -0.006 0.957 0.29° +_scene_ 0.066 0.001 0.051 -5.640 -0.004 -5.691 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.851, -0.039, 0.741] + !! OVERLAP: chair <-> floor depth=[0.494, -0.039, 0.514] + !! OVERLAP: chair <-> floor depth=[0.340, -0.039, 0.547] + !! OVERLAP: chair <-> floor depth=[0.482, -0.039, 0.451] + !! OVERLAP: chair <-> floor depth=[0.421, -0.039, 0.341] + !! OVERLAP: chair <-> floor depth=[0.409, -0.039, 0.458] + !! OVERLAP: chair <-> floor depth=[0.336, -0.039, -0.552] +============================================================ + + +============================================================ +SCENE: DiningRoom-11628 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0580, Walkable Loss: 0.7842 (Center Penalty: 0.4016, C1 Heatmap: 0.1474, C2 Repulsion: 1.3234), Relational Loss: 0.0172 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.625 0.826 0.160 0.913 0.000 1.235 -0.82° +chair 0.301 0.794 0.149 0.692 -0.004 0.739 -0.64° +chair 0.430 0.849 0.469 1.108 -0.000 0.222 -0.05° +chair 0.394 0.776 0.422 1.008 0.001 1.981 179.93° +chair 0.328 0.811 0.400 0.316 0.001 1.664 179.91° +bookshelf 0.945 1.179 0.332 -0.611 0.002 0.976 89.96° +lamp 0.716 1.066 0.700 0.623 1.691 1.182 -0.05° +lamp 0.325 0.256 0.288 -1.276 2.417 -1.246 0.26° +lamp 0.770 0.447 0.093 0.764 1.986 -1.239 0.13° +floor 2.895 -0.014 5.145 -0.182 0.002 1.143 0.30° +_scene_ 0.068 0.000 0.018 -5.669 -0.005 -5.703 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.625, -0.014, 0.160] + !! OVERLAP: chair <-> floor depth=[0.301, -0.014, 0.149] + !! OVERLAP: chair <-> floor depth=[0.372, -0.014, 0.469] + !! OVERLAP: chair <-> floor depth=[0.394, -0.014, 0.422] + !! OVERLAP: chair <-> floor depth=[0.328, -0.014, 0.400] + !! OVERLAP: bookshelf <-> floor depth=[0.945, -0.014, 0.332] +============================================================ + + +============================================================ +SCENE: DiningRoom-29864 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0098, Walkable Loss: 0.8473 (Center Penalty: 0.3173, C1 Heatmap: 0.2109, C2 Repulsion: 1.8064), Relational Loss: 0.0172 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.668 0.754 0.478 1.226 0.011 -3.310 0.10° +chair 0.366 0.893 0.411 0.427 -0.001 -3.101 90.15° +lamp 0.851 1.171 0.860 0.740 1.662 -2.632 0.03° +chair 0.360 1.001 0.427 1.405 0.000 -2.941 -90.01° +chair 0.537 0.937 0.453 0.240 0.002 -2.210 89.91° +chair 0.325 0.938 0.404 1.471 0.005 -2.209 -90.22° +table 1.258 1.118 0.333 -1.054 0.005 0.497 -0.00° +shelf 0.842 1.917 0.326 -0.989 -0.002 -1.130 0.18° +lamp 0.391 0.431 0.269 0.143 2.416 1.063 -0.12° +floor 3.645 -0.022 7.363 0.149 -0.004 -0.980 -0.17° +_scene_ 0.076 -0.000 0.022 -5.669 -0.005 -5.707 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.335, 0.754, 0.084] + !! OVERLAP: table <-> floor depth=[0.668, -0.022, 0.478] + !! OVERLAP: chair <-> floor depth=[0.366, -0.022, 0.411] + !! OVERLAP: chair <-> floor depth=[0.360, -0.022, 0.427] + !! OVERLAP: chair <-> floor depth=[0.537, -0.022, 0.453] + !! OVERLAP: chair <-> floor depth=[0.325, -0.022, 0.404] + !! OVERLAP: table <-> floor depth=[1.248, -0.022, 0.333] + !! OVERLAP: shelf <-> floor depth=[0.842, -0.022, 0.326] +============================================================ + + +============================================================ +SCENE: DiningRoom-2817 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0454, Walkable Loss: 1.6697 (Center Penalty: 1.3628, C1 Heatmap: 0.2129, C2 Repulsion: 0.6831), Relational Loss: 0.0017 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.902 0.868 0.667 -1.157 0.006 1.037 1.20° +chair 0.343 0.474 0.354 -0.216 0.009 -0.900 -0.07° +chair 0.299 0.453 0.329 0.718 0.000 -0.773 -0.02° +chair 0.320 0.541 0.311 -0.226 0.001 1.074 179.98° +chair 0.369 0.618 0.358 0.699 0.011 1.100 -179.90° +cabinet 1.121 1.102 0.333 -1.654 0.002 -0.365 89.94° +lamp 1.090 0.919 0.322 0.317 1.923 -0.158 0.23° +floor 3.491 0.014 3.510 -0.890 0.036 -0.345 0.83° +_scene_ 0.068 -0.000 0.019 -5.673 -0.004 -5.714 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.902, 0.014, 0.667] + !! OVERLAP: chair <-> floor depth=[0.343, 0.014, 0.354] + !! OVERLAP: chair <-> floor depth=[0.287, 0.014, 0.329] + !! OVERLAP: chair <-> floor depth=[0.320, 0.014, 0.311] + !! OVERLAP: chair <-> floor depth=[0.341, 0.014, 0.358] + !! OVERLAP: cabinet <-> floor depth=[1.121, 0.014, 0.333] +============================================================ + + +============================================================ +SCENE: DiningRoom-35065 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1359, Walkable Loss: 1.8638 (Center Penalty: 1.3167, C1 Heatmap: 0.1654, C2 Repulsion: 2.0738), Relational Loss: 0.0471 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.617 1.877 0.153 0.513 -0.007 1.028 -89.92° +lamp 0.449 0.935 0.387 -0.802 1.701 0.082 0.08° +chair 0.320 0.809 0.488 0.007 0.006 -0.774 0.06° +chair 0.419 0.762 0.378 -0.849 0.005 -0.658 -0.10° +table 0.804 0.741 0.582 -0.764 0.012 0.210 -179.97° +chair 0.407 0.795 0.341 -0.780 0.002 0.969 179.63° +chair 0.363 0.805 0.384 -0.115 0.000 1.016 179.92° +floor 3.435 0.004 2.460 -1.032 -0.003 0.060 1.18° +_scene_ 0.067 0.000 0.024 -5.668 -0.005 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.481, 0.004, 0.153] + !! OVERLAP: chair <-> floor depth=[0.320, 0.004, 0.488] + !! OVERLAP: chair <-> floor depth=[0.419, 0.004, 0.378] + !! OVERLAP: table <-> floor depth=[0.804, 0.004, 0.582] + !! OVERLAP: chair <-> floor depth=[0.407, 0.004, 0.341] + !! OVERLAP: chair <-> floor depth=[0.363, 0.004, 0.384] +============================================================ + + +============================================================ +SCENE: DiningRoom-88173 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0103, Walkable Loss: 2.4862 (Center Penalty: 1.3003, C1 Heatmap: 0.3706, C2 Repulsion: 4.4470), Relational Loss: 0.0426 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.999 0.817 0.102 -0.169 1.514 -0.784 90.37° +table 0.575 0.655 0.464 -0.254 0.055 -0.728 0.12° +chair 0.504 1.040 0.579 0.832 0.001 0.373 -102.76° +chair 1.001 1.064 0.486 -0.017 0.003 1.418 -179.94° +chair 0.476 1.027 0.546 0.952 0.002 -0.174 -97.18° +chair 0.370 1.049 0.458 0.718 -0.001 -0.916 -79.55° +chair 0.495 1.053 0.556 -0.945 -0.003 0.497 109.70° +chair 0.266 1.147 0.594 -1.083 -0.007 -0.127 81.58° +chair 0.241 1.017 0.594 -1.097 0.003 -0.742 89.87° +chair 0.444 0.954 0.443 -0.354 -0.002 -1.539 0.13° +table 1.164 0.624 0.147 0.025 0.002 -2.386 0.03° +floor 2.722 -0.008 5.668 -0.055 -0.007 -1.184 0.45° +_scene_ 0.137 -0.009 0.149 -5.601 0.001 -5.652 -57.18° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.575, -0.008, 0.464] + !! OVERLAP: chair <-> chair depth=[0.370, 1.027, 0.015] + !! OVERLAP: chair <-> floor depth=[0.504, -0.008, 0.579] + !! OVERLAP: chair <-> floor depth=[1.001, -0.008, 0.476] + !! OVERLAP: chair <-> floor depth=[0.476, -0.008, 0.546] + !! OVERLAP: chair <-> floor depth=[0.370, -0.008, 0.458] + !! OVERLAP: chair <-> floor depth=[0.495, -0.008, 0.556] + !! OVERLAP: chair <-> floor depth=[0.266, -0.008, 0.594] + !! OVERLAP: chair <-> floor depth=[0.241, -0.008, 0.594] + !! OVERLAP: chair <-> floor depth=[0.444, -0.008, 0.443] + !! OVERLAP: table <-> floor depth=[1.164, -0.008, 0.147] +============================================================ + + +============================================================ +SCENE: DiningRoom-35093 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2457 (Center Penalty: 1.2120, C1 Heatmap: 0.1778, C2 Repulsion: 4.4570), Relational Loss: 0.0333 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.201 0.704 0.500 0.249 0.023 -1.103 0.61° +chair 0.419 1.019 0.473 -1.013 0.003 0.478 -179.67° +chair 0.455 0.841 0.462 0.335 0.002 0.709 -179.89° +chair 0.388 0.826 0.422 0.967 0.003 0.481 179.96° +chair 0.503 0.845 0.574 0.920 0.001 -0.886 0.05° +chair 0.372 0.839 0.482 -0.221 0.002 -1.042 0.02° +lamp 0.413 1.012 0.346 0.281 1.488 -0.805 0.21° +floor 3.797 -0.002 2.910 -0.619 -0.002 -0.486 0.12° +_scene_ 0.063 0.003 0.021 -5.673 -0.005 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.201, -0.002, 0.500] + !! OVERLAP: chair <-> floor depth=[0.419, -0.002, 0.473] + !! OVERLAP: chair <-> floor depth=[0.455, -0.002, 0.462] + !! OVERLAP: chair <-> floor depth=[0.388, -0.002, 0.422] + !! OVERLAP: chair <-> floor depth=[0.503, -0.002, 0.574] + !! OVERLAP: chair <-> floor depth=[0.372, -0.002, 0.482] +============================================================ + + +============================================================ +SCENE: DiningRoom-10302 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0975, Walkable Loss: 1.7233 (Center Penalty: 0.9092, C1 Heatmap: 0.1839, C2 Repulsion: 3.3348), Relational Loss: 0.0039 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.340 0.439 0.315 -1.370 0.002 0.506 179.89° +shelf 0.485 0.806 0.261 -1.027 0.000 -1.284 0.11° +chair 0.050 0.907 0.370 0.967 -0.004 0.620 179.41° +chair 0.332 0.870 0.367 0.821 0.001 0.710 179.97° +chair 0.117 0.892 0.288 1.038 0.000 -0.393 -0.34° +chair 0.358 0.826 0.420 0.882 -0.004 -0.827 -0.31° +table 0.331 0.790 0.640 0.807 0.051 0.097 -91.38° +lamp -0.036 0.802 0.017 1.005 1.834 0.550 -0.30° +lamp 0.463 0.887 0.450 0.514 1.652 -0.775 -0.04° +floor 3.533 -0.010 3.536 -0.724 0.024 -0.900 0.41° +_scene_ 0.070 -0.001 0.020 -5.673 -0.004 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.340, -0.010, 0.315] + !! OVERLAP: shelf <-> floor depth=[0.485, -0.010, 0.261] + !! OVERLAP: chair <-> chair depth=[0.045, 0.870, 0.279] + !! OVERLAP: chair <-> floor depth=[0.050, -0.010, 0.370] + !! OVERLAP: chair <-> floor depth=[0.332, -0.010, 0.342] + !! OVERLAP: chair <-> floor depth=[0.063, -0.010, 0.288] + !! OVERLAP: chair <-> floor depth=[0.339, -0.010, 0.420] + !! OVERLAP: table <-> floor depth=[0.331, -0.010, 0.640] +============================================================ + + +============================================================ +SCENE: DiningRoom-113004 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0219, Walkable Loss: 2.0362 (Center Penalty: 1.1148, C1 Heatmap: 0.4254, C2 Repulsion: 2.9055), Relational Loss: 0.0450 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.860 0.713 0.595 -0.481 -0.001 0.852 -0.03° +chair 0.419 0.873 0.449 -1.019 -0.001 -0.317 -0.05° +chair 0.440 0.867 0.427 0.080 0.002 -0.674 -0.08° +chair 0.446 0.866 0.477 -0.812 0.001 1.237 179.92° +chair 0.461 0.872 0.527 0.139 0.002 1.128 179.95° +table 1.331 0.821 0.573 -0.506 0.001 -1.841 -0.09° +lamp 1.049 0.569 1.021 0.017 2.110 0.840 -0.01° +floor 3.549 0.006 4.007 -0.836 0.005 -0.550 0.45° +_scene_ 0.070 0.003 0.021 -5.664 -0.005 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.446, 0.713, 0.152] + !! OVERLAP: table <-> chair depth=[0.461, 0.713, 0.285] + !! OVERLAP: table <-> floor depth=[1.860, 0.006, 0.595] + !! OVERLAP: chair <-> floor depth=[0.419, 0.006, 0.449] + !! OVERLAP: chair <-> floor depth=[0.440, 0.006, 0.427] + !! OVERLAP: chair <-> floor depth=[0.446, 0.006, 0.456] + !! OVERLAP: chair <-> floor depth=[0.461, 0.006, 0.527] + !! OVERLAP: table <-> floor depth=[1.331, 0.006, 0.573] +============================================================ + + +============================================================ +SCENE: DiningRoom-22384 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9859 (Center Penalty: 0.4424, C1 Heatmap: 0.1455, C2 Repulsion: 2.1356), Relational Loss: 0.0299 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.648 0.830 0.497 0.548 0.047 -0.989 -1.47° +lamp 0.988 0.763 0.866 0.774 1.965 -1.123 44.77° +chair 0.371 1.040 0.468 0.112 -0.003 -1.601 88.92° +chair 0.396 1.011 0.438 -0.193 -0.004 -0.778 89.89° +chair 0.398 1.066 0.428 1.425 0.002 -1.345 -81.82° +chair 0.455 1.001 0.488 1.372 0.001 -0.342 -90.32° +floor 3.566 -0.008 4.109 1.129 -0.008 -0.586 -0.11° +_scene_ 0.059 -0.001 0.019 -5.665 -0.004 -5.710 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.648, -0.008, 0.497] + !! OVERLAP: chair <-> floor depth=[0.371, -0.008, 0.468] + !! OVERLAP: chair <-> floor depth=[0.396, -0.008, 0.438] + !! OVERLAP: chair <-> floor depth=[0.398, -0.008, 0.428] + !! OVERLAP: chair <-> floor depth=[0.455, -0.008, 0.488] +============================================================ + + +============================================================ +SCENE: DiningRoom-11145 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 3.4153 (Center Penalty: 2.3454, C1 Heatmap: 0.3799, C2 Repulsion: 3.8294), Relational Loss: 0.0432 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.198 0.766 0.999 -0.503 -0.001 -0.842 -0.03° +chair 0.349 0.923 0.492 0.540 -0.009 -0.371 -179.44° +chair 0.423 0.836 0.495 -0.621 0.006 0.345 179.95° +chair 0.429 0.887 0.471 0.379 0.000 -1.259 -0.07° +chair 0.452 0.902 0.440 -0.380 -0.000 -1.278 0.01° +table 1.495 1.251 0.358 0.045 0.009 1.348 -179.91° +lamp 0.884 0.925 0.696 -0.015 1.822 -0.745 -0.15° +floor 2.464 -0.000 3.150 0.002 0.000 0.045 -0.00° +_scene_ 0.059 0.001 0.019 -5.663 -0.005 -5.714 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.452, 0.766, 0.283] + !! OVERLAP: table <-> floor depth=[1.198, -0.000, 0.999] + !! OVERLAP: chair <-> floor depth=[0.349, -0.000, 0.492] + !! OVERLAP: chair <-> floor depth=[0.423, -0.000, 0.495] + !! OVERLAP: chair <-> floor depth=[0.429, -0.000, 0.471] + !! OVERLAP: chair <-> floor depth=[0.452, -0.000, 0.440] + !! OVERLAP: table <-> floor depth=[1.495, -0.000, 0.358] +============================================================ + + +============================================================ +SCENE: DiningRoom-10559 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2089, Walkable Loss: 1.5685 (Center Penalty: 0.6562, C1 Heatmap: 0.4354, C2 Repulsion: 2.8199), Relational Loss: 0.0232 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.247 0.788 0.269 1.165 0.002 -0.813 0.05° +chair 0.553 0.945 0.499 1.867 0.003 -1.832 0.03° +chair 0.475 0.866 0.582 0.935 0.002 -0.619 179.84° +cabinet 1.466 2.003 0.122 0.974 -0.014 0.744 -179.36° +chair 0.379 0.978 0.496 1.935 -0.000 -0.423 179.95° +chair 0.484 1.026 0.503 0.751 0.008 -1.802 -0.02° +lamp 0.579 0.251 0.542 0.240 2.302 -1.105 -0.04° +cabinet 1.394 1.718 0.379 -2.299 -0.005 -0.890 -0.02° +tv_stand 1.438 0.397 0.030 -2.155 0.020 0.671 179.72° +chair 0.454 0.554 0.355 -0.610 -0.000 0.388 -179.95° +floor 6.535 0.014 3.537 -0.011 0.011 -1.128 -0.04° +_scene_ 0.074 -0.000 0.022 -5.671 -0.005 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.475, 0.788, 0.232] + !! OVERLAP: table <-> floor depth=[1.247, 0.014, 0.269] + !! OVERLAP: chair <-> floor depth=[0.553, 0.014, 0.499] + !! OVERLAP: chair <-> floor depth=[0.475, 0.014, 0.582] + !! OVERLAP: chair <-> floor depth=[0.379, 0.014, 0.496] + !! OVERLAP: chair <-> floor depth=[0.484, 0.014, 0.503] + !! OVERLAP: cabinet <-> floor depth=[1.394, 0.014, 0.379] + !! OVERLAP: chair <-> floor depth=[0.454, 0.014, 0.355] +============================================================ + + +============================================================ +SCENE: DiningRoom-85692 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1323 (Center Penalty: 0.8131, C1 Heatmap: 0.1547, C2 Repulsion: 0.9775), Relational Loss: 0.0423 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.478 0.842 1.071 0.011 -0.006 -0.902 175.22° +chair 0.468 0.701 0.455 1.001 0.000 0.332 -90.17° +chair 0.381 0.803 0.422 1.092 0.001 -0.638 -90.06° +chair 0.366 0.770 0.386 -0.874 0.001 -0.329 89.87° +chair 0.115 0.690 0.279 -0.803 0.021 -0.870 83.81° +lamp 0.728 0.978 0.726 0.547 2.014 -0.815 -0.02° +floor 3.614 0.058 3.563 0.376 0.005 -1.038 -0.23° +_scene_ 0.075 0.001 0.032 -5.658 -0.001 -5.695 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.478, 0.058, 1.071] + !! OVERLAP: chair <-> floor depth=[0.468, 0.058, 0.455] + !! OVERLAP: chair <-> floor depth=[0.381, 0.058, 0.422] + !! OVERLAP: chair <-> floor depth=[0.366, 0.058, 0.386] + !! OVERLAP: chair <-> floor depth=[0.115, 0.058, 0.279] +============================================================ + + +============================================================ +SCENE: DiningRoom-12866 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2535 (Center Penalty: 0.6416, C1 Heatmap: 0.2584, C2 Repulsion: 2.0257), Relational Loss: 0.0277 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.395 1.060 0.443 -0.556 0.004 -1.396 71.55° +chair 0.411 1.004 0.528 -0.463 -0.008 -0.769 89.70° +chair 0.286 1.037 0.423 1.286 0.001 -0.548 -90.01° +chair 0.370 1.040 0.424 1.227 -0.001 -1.162 -89.84° +table 0.633 0.697 0.427 0.488 0.010 -1.140 -90.43° +table 1.520 0.848 0.289 0.072 0.000 1.476 -179.97° +chair 0.441 0.599 0.449 1.477 0.000 0.874 -179.98° +lamp 0.893 0.848 0.908 0.200 1.827 -0.846 -0.05° +floor 3.774 0.037 3.633 1.018 -0.022 -0.012 0.54° +_scene_ 0.065 -0.000 0.025 -5.667 -0.005 -5.708 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.395, 0.037, 0.443] + !! OVERLAP: chair <-> floor depth=[0.411, 0.037, 0.528] + !! OVERLAP: chair <-> floor depth=[0.286, 0.037, 0.423] + !! OVERLAP: chair <-> floor depth=[0.370, 0.037, 0.424] + !! OVERLAP: table <-> floor depth=[0.633, 0.037, 0.427] + !! OVERLAP: table <-> floor depth=[1.520, 0.037, 0.289] + !! OVERLAP: chair <-> floor depth=[0.441, 0.037, 0.449] +============================================================ + + +============================================================ +SCENE: DiningRoom-9824 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0614 (Center Penalty: 0.7224, C1 Heatmap: 0.4421, C2 Repulsion: 4.9267), Relational Loss: 0.0180 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.859 0.947 0.233 0.966 -0.000 -0.946 0.20° +table 2.221 0.727 0.959 0.024 -0.002 1.233 179.98° +chair 0.299 0.485 0.308 -1.120 0.000 0.151 90.10° +chair 0.301 0.465 0.285 0.305 -0.001 0.655 -0.06° +chair 0.382 0.521 0.479 0.377 0.000 1.325 -90.02° +chair 0.433 0.560 0.418 -0.497 -0.002 1.181 90.02° +chair 0.229 0.557 0.268 1.044 0.002 1.039 -90.04° +lamp 1.642 0.617 1.512 0.067 2.191 1.253 0.15° +floor 3.721 -0.013 4.277 0.378 0.000 0.996 0.05° +_scene_ 0.062 0.002 0.017 -5.664 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.859, -0.013, 0.233] + !! OVERLAP: table <-> chair depth=[0.301, 0.465, 0.044] + !! OVERLAP: table <-> chair depth=[0.382, 0.521, 0.479] + !! OVERLAP: table <-> chair depth=[0.433, 0.560, 0.418] + !! OVERLAP: table <-> chair depth=[0.205, 0.557, 0.268] + !! OVERLAP: table <-> floor depth=[2.221, -0.013, 0.959] + !! OVERLAP: chair <-> floor depth=[0.299, -0.013, 0.308] + !! OVERLAP: chair <-> floor depth=[0.301, -0.013, 0.285] + !! OVERLAP: chair <-> floor depth=[0.382, -0.013, 0.479] + !! OVERLAP: chair <-> floor depth=[0.433, -0.013, 0.418] + !! OVERLAP: chair <-> floor depth=[0.229, -0.013, 0.268] +============================================================ + + +============================================================ +SCENE: DiningRoom-88590 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3658 (Center Penalty: 0.5600, C1 Heatmap: 0.2651, C2 Repulsion: 2.9687), Relational Loss: 0.0326 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.921 0.584 0.099 -1.282 2.045 0.260 -0.17° +chair 0.391 0.744 0.388 -1.100 -0.000 -0.492 0.21° +chair 0.426 0.408 0.410 0.579 -0.001 -1.398 -0.04° +chair 0.466 0.785 0.456 -0.564 0.010 -0.556 -0.23° +cabinet 1.682 2.003 0.155 -2.317 -0.000 -0.334 89.74° +table 2.067 0.701 -0.424 -1.163 -0.062 0.750 -0.82° +chair 0.373 0.803 0.367 -0.356 0.003 1.216 -130.76° +chair 0.442 0.772 0.481 -1.034 -0.002 1.086 179.84° +floor 5.481 -0.008 4.044 -1.063 -0.006 0.037 -0.13° +_scene_ 0.062 0.000 0.021 -5.670 -0.004 -5.717 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.391, -0.008, 0.388] + !! OVERLAP: chair <-> floor depth=[0.426, -0.008, 0.410] + !! OVERLAP: chair <-> floor depth=[0.466, -0.008, 0.456] + !! OVERLAP: cabinet <-> floor depth=[1.682, -0.008, 0.155] + !! OVERLAP: table <-> floor depth=[2.067, -0.008, -0.424] + !! OVERLAP: chair <-> floor depth=[0.373, -0.008, 0.367] + !! OVERLAP: chair <-> floor depth=[0.442, -0.008, 0.481] +============================================================ + + +============================================================ +SCENE: DiningRoom-7217 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1380 (Center Penalty: 1.8387, C1 Heatmap: 0.1003, C2 Repulsion: 1.0950), Relational Loss: 0.0529 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.894 0.716 -0.243 0.228 -0.014 1.121 -91.38° +chair 0.353 0.988 0.370 0.711 -0.008 0.188 -89.59° +chair 0.263 1.058 0.371 0.783 0.006 0.860 -90.14° +chair 0.472 0.961 0.471 -0.930 -0.004 0.193 90.16° +chair 0.352 1.049 0.352 -0.883 0.004 0.937 90.33° +lamp 0.456 1.153 0.223 -0.272 1.383 0.906 90.67° +floor 2.647 0.006 3.184 -0.017 0.002 -0.056 -0.02° +_scene_ 0.068 0.005 0.021 -5.667 -0.004 -5.718 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.894, 0.006, -0.243] + !! OVERLAP: chair <-> floor depth=[0.353, 0.006, 0.370] + !! OVERLAP: chair <-> floor depth=[0.263, 0.006, 0.371] + !! OVERLAP: chair <-> floor depth=[0.472, 0.006, 0.471] + !! OVERLAP: chair <-> floor depth=[0.352, 0.006, 0.352] +============================================================ + + +============================================================ +SCENE: DiningRoom-19325 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.9347 (Center Penalty: 1.2664, C1 Heatmap: 0.2204, C2 Repulsion: 2.4602), Relational Loss: 0.0527 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.041 0.687 0.552 -0.847 -0.019 -0.431 -0.30° +chair 0.473 0.957 0.564 -0.960 0.001 0.514 -179.91° +chair 0.518 1.017 0.568 -0.945 0.001 -0.939 0.03° +chair 0.399 1.029 0.452 -0.135 0.007 0.711 179.56° +chair 0.455 0.922 0.548 0.206 0.001 -0.999 -0.03° +lamp 0.261 0.897 0.275 -0.483 1.709 -0.596 -0.19° +floor 2.941 0.007 2.459 -0.894 -0.006 -0.119 -0.72° +_scene_ 0.064 0.003 0.025 -5.667 -0.004 -5.701 -57.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.518, 0.687, 0.052] + !! OVERLAP: table <-> floor depth=[1.041, 0.007, 0.552] + !! OVERLAP: chair <-> floor depth=[0.473, 0.007, 0.564] + !! OVERLAP: chair <-> floor depth=[0.518, 0.007, 0.568] + !! OVERLAP: chair <-> floor depth=[0.399, 0.007, 0.452] + !! OVERLAP: chair <-> floor depth=[0.455, 0.007, 0.548] +============================================================ + + +============================================================ +SCENE: DiningRoom-27933 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3072 (Center Penalty: 2.0591, C1 Heatmap: 0.1228, C2 Repulsion: 0.7496), Relational Loss: 0.0393 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.242 0.797 0.116 -0.200 -0.017 0.839 91.10° +chair 0.371 0.658 0.416 0.701 0.002 0.720 -90.14° +chair 0.304 0.638 0.299 0.891 0.000 -0.221 -90.18° +chair 0.380 0.602 0.220 -0.850 0.002 0.824 90.07° +chair 0.398 0.579 0.424 -0.848 -0.007 -0.234 89.58° +lamp 0.421 0.812 0.463 0.468 1.945 -0.697 0.62° +floor 2.151 -0.003 2.437 0.003 -0.006 -0.028 -0.01° +_scene_ 0.067 0.001 0.021 -5.667 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.161, 0.602, 0.116] + !! OVERLAP: table <-> floor depth=[1.242, -0.003, 0.116] + !! OVERLAP: chair <-> floor depth=[0.371, -0.003, 0.416] + !! OVERLAP: chair <-> floor depth=[0.304, -0.003, 0.299] + !! OVERLAP: chair <-> floor depth=[0.380, -0.003, 0.220] + !! OVERLAP: chair <-> floor depth=[0.398, -0.003, 0.424] +============================================================ + + +============================================================ +SCENE: DiningRoom-9630 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6517 (Center Penalty: 1.3074, C1 Heatmap: 0.1787, C2 Repulsion: 1.0069), Relational Loss: 0.0322 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.524 0.778 0.248 -0.454 -0.048 -1.130 -91.37° +chair 0.286 0.932 0.320 0.094 0.005 -0.935 -179.50° +chair 0.325 1.012 0.354 0.259 -0.003 -1.885 -49.46° +chair 0.451 0.976 0.509 -1.001 -0.002 -1.780 0.06° +chair 0.429 0.897 0.332 -1.117 -0.019 -0.798 116.36° +bookshelf 1.217 2.303 0.361 0.810 -0.000 1.209 -90.21° +lamp 0.403 0.862 0.305 0.039 1.759 1.355 -0.08° +lamp 0.604 1.195 0.589 -0.195 1.693 -1.351 -0.03° +floor 2.960 -0.003 4.814 -0.005 -0.000 -0.037 0.04° +_scene_ 0.064 0.001 0.015 -5.671 -0.006 -5.718 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.524, -0.003, 0.248] + !! OVERLAP: chair <-> floor depth=[0.286, -0.003, 0.320] + !! OVERLAP: chair <-> floor depth=[0.325, -0.003, 0.354] + !! OVERLAP: chair <-> floor depth=[0.451, -0.003, 0.509] + !! OVERLAP: chair <-> floor depth=[0.429, -0.003, 0.332] + !! OVERLAP: bookshelf <-> floor depth=[1.217, -0.003, 0.361] +============================================================ + + +============================================================ +SCENE: DiningRoom-225770 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3643 (Center Penalty: 0.8887, C1 Heatmap: 0.1512, C2 Repulsion: 1.7729), Relational Loss: 0.0410 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.368 0.908 0.455 -0.910 -0.001 -0.864 0.07° +chair 0.231 0.924 0.282 -0.688 -0.020 0.167 -65.73° +chair 0.490 0.938 0.462 0.328 -0.005 1.190 -135.83° +chair 0.420 0.996 0.439 -1.199 -0.000 0.898 169.64° +chair 0.351 0.956 0.463 -1.524 0.010 -0.063 79.09° +table 0.749 0.671 0.360 -0.396 -0.010 0.733 -0.00° +floor 4.202 -0.003 5.357 -0.248 0.004 0.921 -0.28° +_scene_ 0.145 0.000 0.192 -5.437 -0.003 -5.473 -57.78° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.368, -0.003, 0.455] + !! OVERLAP: chair <-> floor depth=[0.231, -0.003, 0.282] + !! OVERLAP: chair <-> floor depth=[0.490, -0.003, 0.462] + !! OVERLAP: chair <-> floor depth=[0.420, -0.003, 0.439] + !! OVERLAP: chair <-> floor depth=[0.351, -0.003, 0.463] + !! OVERLAP: table <-> floor depth=[0.749, -0.003, 0.360] +============================================================ + + +============================================================ +SCENE: DiningRoom-116178 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8772 (Center Penalty: 0.3815, C1 Heatmap: 0.2573, C2 Repulsion: 1.4490), Relational Loss: 0.0382 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.820 0.809 0.535 -0.660 0.004 1.928 0.02° +chair 0.434 0.813 0.457 -1.045 -0.004 1.058 139.25° +chair 0.272 0.791 0.339 -0.275 -0.004 1.251 -166.66° +chair 0.456 0.782 0.457 0.555 0.006 1.197 -136.38° +chair 0.402 0.825 0.438 -1.273 0.001 -0.857 13.15° +chair 0.313 0.817 0.409 -0.379 -0.006 -1.292 -14.24° +chair 0.325 0.848 0.302 0.582 -0.004 -1.280 -44.60° +chair 0.502 0.803 0.535 0.966 0.000 -0.143 -76.98° +chair 0.513 0.820 0.513 -1.730 -0.001 0.238 110.92° +floor 4.623 -0.026 5.737 -0.960 0.012 0.503 0.29° +_scene_ 1.097 0.393 1.869 -2.527 0.006 -2.803 -82.70° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.820, -0.026, 0.535] + !! OVERLAP: chair <-> floor depth=[0.434, -0.026, 0.457] + !! OVERLAP: chair <-> floor depth=[0.272, -0.026, 0.339] + !! OVERLAP: chair <-> floor depth=[0.456, -0.026, 0.457] + !! OVERLAP: chair <-> floor depth=[0.402, -0.026, 0.438] + !! OVERLAP: chair <-> floor depth=[0.313, -0.026, 0.409] + !! OVERLAP: chair <-> floor depth=[0.325, -0.026, 0.302] + !! OVERLAP: chair <-> floor depth=[0.502, -0.026, 0.535] + !! OVERLAP: chair <-> floor depth=[0.513, -0.026, 0.513] + !! OVERLAP: floor <-> _scene_ depth=[1.097, -0.026, 0.497] +============================================================ + + +============================================================ +SCENE: DiningRoom-22156 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.5465 (Center Penalty: 1.8392, C1 Heatmap: 0.2066, C2 Repulsion: 2.7099), Relational Loss: 0.0499 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.124 0.638 -0.583 -0.642 -0.027 -0.759 90.31° +chair 0.378 0.930 0.349 -0.622 -0.004 -1.125 -0.15° +chair 0.534 0.865 0.515 0.212 -0.000 -1.050 -0.03° +chair 0.501 0.928 0.567 -0.747 0.004 1.096 -179.70° +chair 0.514 0.876 0.494 0.233 0.002 0.908 -179.98° +chair 0.409 0.967 0.457 -1.166 -0.000 -0.305 89.94° +chair 0.439 0.967 0.478 1.118 0.004 -0.095 -89.98° +lamp 0.450 1.180 0.377 0.285 1.466 -0.808 -0.16° +floor 3.415 -0.005 2.968 -0.024 0.002 -0.038 0.01° +_scene_ 0.061 -0.004 0.072 -5.597 0.001 -5.645 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.124, -0.005, -0.583] + !! OVERLAP: chair <-> floor depth=[0.378, -0.005, 0.349] + !! OVERLAP: chair <-> floor depth=[0.534, -0.005, 0.515] + !! OVERLAP: chair <-> floor depth=[0.501, -0.005, 0.567] + !! OVERLAP: chair <-> floor depth=[0.514, -0.005, 0.494] + !! OVERLAP: chair <-> floor depth=[0.409, -0.005, 0.457] + !! OVERLAP: chair <-> floor depth=[0.439, -0.005, 0.478] +============================================================ + + +============================================================ +SCENE: DiningRoom-22308 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0222, Walkable Loss: 2.4941 (Center Penalty: 1.9820, C1 Heatmap: 0.2324, C2 Repulsion: 1.6305), Relational Loss: 0.0597 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.833 0.818 0.456 0.886 -0.101 -0.987 0.53° +chair 0.509 0.982 0.531 -0.939 0.002 0.587 89.97° +chair 0.435 0.968 0.546 0.857 0.001 0.473 -90.01° +chair 0.341 0.990 0.412 0.912 0.007 -0.221 -80.60° +chair 0.384 0.930 0.460 -0.824 0.002 -0.397 88.32° +chair 0.476 0.967 0.515 0.030 0.001 1.134 179.74° +chair 0.451 0.975 0.494 -0.170 -0.000 -1.192 0.11° +lamp 0.432 0.598 0.346 0.046 2.213 -0.812 0.16° +floor 2.813 -0.001 3.630 -0.127 0.001 -0.056 0.04° +_scene_ 0.069 0.001 0.037 -5.653 -0.006 -5.688 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.811, -0.001, 0.456] + !! OVERLAP: chair <-> floor depth=[0.509, -0.001, 0.531] + !! OVERLAP: chair <-> floor depth=[0.435, -0.001, 0.546] + !! OVERLAP: chair <-> floor depth=[0.341, -0.001, 0.412] + !! OVERLAP: chair <-> floor depth=[0.384, -0.001, 0.460] + !! OVERLAP: chair <-> floor depth=[0.476, -0.001, 0.515] + !! OVERLAP: chair <-> floor depth=[0.451, -0.001, 0.494] +============================================================ + + +============================================================ +SCENE: DiningRoom-11336 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.3167, Walkable Loss: 1.9859 (Center Penalty: 1.2655, C1 Heatmap: 0.1703, C2 Repulsion: 2.9206), Relational Loss: 0.0576 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.062 0.756 0.136 -0.929 0.022 -0.030 0.44° +chair 0.411 0.973 0.445 -1.291 -0.004 0.504 113.42° +chair 0.191 1.035 0.445 0.145 0.003 0.788 -153.34° +chair 0.276 1.032 0.496 0.129 0.001 -0.770 -81.99° +chair 0.224 1.028 0.365 -1.074 0.001 -0.623 59.47° +chair 0.424 0.911 0.414 -0.446 0.007 1.012 179.98° +chair 0.458 0.938 0.533 -0.493 -0.000 -1.120 0.07° +lamp 0.384 0.576 0.385 -0.604 2.328 -0.539 0.10° +floor 2.656 0.052 3.016 -1.206 -0.023 -0.342 -0.31° +_scene_ 0.075 -0.001 0.047 -5.654 -0.003 -5.698 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.062, 0.052, 0.136] + !! OVERLAP: chair <-> floor depth=[0.411, 0.052, 0.445] + !! OVERLAP: chair <-> floor depth=[0.073, 0.052, 0.445] + !! OVERLAP: chair <-> floor depth=[0.131, 0.052, 0.496] + !! OVERLAP: chair <-> floor depth=[0.224, 0.052, 0.365] + !! OVERLAP: chair <-> floor depth=[0.424, 0.052, 0.362] + !! OVERLAP: chair <-> floor depth=[0.458, 0.052, 0.533] +============================================================ + + +============================================================ +SCENE: DiningRoom-6151 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5898 (Center Penalty: 0.7411, C1 Heatmap: 0.3403, C2 Repulsion: 2.8821), Relational Loss: 0.0539 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.737 1.304 0.224 -0.580 -0.033 -1.212 90.48° +chair 0.446 0.968 0.451 0.632 0.003 -1.165 0.09° +chair 0.305 0.985 0.383 1.387 -0.000 -1.249 -0.04° +chair 0.327 0.982 0.456 0.811 0.004 0.961 179.94° +chair 0.377 0.958 0.468 1.643 0.001 0.756 179.98° +table 1.316 0.739 0.603 1.388 -0.005 -0.172 0.26° +table 0.782 0.838 0.732 -0.761 0.043 0.541 90.71° +cabinet 1.060 1.909 -0.091 -0.374 -0.099 -1.214 90.05° +lamp 0.768 0.866 0.771 0.973 2.258 -0.274 -0.12° +floor 4.047 -0.007 3.618 0.726 0.004 0.340 0.15° +_scene_ 0.074 -0.000 0.026 -5.669 -0.004 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> cabinet depth=[0.693, 1.304, -0.091] + !! OVERLAP: table <-> floor depth=[0.737, -0.007, 0.224] + !! OVERLAP: chair <-> floor depth=[0.446, -0.007, 0.451] + !! OVERLAP: chair <-> floor depth=[0.305, -0.007, 0.383] + !! OVERLAP: chair <-> floor depth=[0.327, -0.007, 0.456] + !! OVERLAP: chair <-> floor depth=[0.377, -0.007, 0.468] + !! OVERLAP: table <-> floor depth=[1.316, -0.007, 0.603] + !! OVERLAP: table <-> floor depth=[0.782, -0.007, 0.732] + !! OVERLAP: cabinet <-> floor depth=[1.060, -0.007, -0.091] +============================================================ + + +============================================================ +SCENE: DiningRoom-663 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1202, Walkable Loss: 2.4065 (Center Penalty: 1.5036, C1 Heatmap: 0.3630, C2 Repulsion: 3.0625), Relational Loss: 0.0385 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.429 0.798 1.245 0.901 -0.007 -0.557 90.00° +chair 0.473 0.925 0.454 0.972 0.002 0.625 179.98° +chair 0.474 0.878 0.517 0.980 -0.005 -0.814 -0.17° +chair 0.463 0.850 0.509 -0.060 0.003 0.955 -179.94° +chair 0.439 0.847 0.442 -0.076 0.001 -0.910 0.01° +lamp 1.110 0.985 1.235 0.835 1.626 -0.501 -0.03° +lamp 1.029 0.926 1.179 0.908 1.745 0.022 0.05° +lamp 1.506 0.972 1.487 0.805 1.584 -0.353 0.01° +floor 3.806 -0.015 2.433 0.681 -0.007 0.113 0.30° +_scene_ 0.068 -0.000 0.020 -5.671 -0.004 -5.713 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.474, 0.798, 0.517] + !! OVERLAP: table <-> floor depth=[1.429, -0.015, 1.168] + !! OVERLAP: chair <-> floor depth=[0.473, -0.015, 0.454] + !! OVERLAP: chair <-> floor depth=[0.474, -0.015, 0.517] + !! OVERLAP: chair <-> floor depth=[0.463, -0.015, 0.509] + !! OVERLAP: chair <-> floor depth=[0.439, -0.015, 0.415] + !! OVERLAP: lamp <-> lamp depth=[0.996, 0.837, 0.683] + !! OVERLAP: lamp <-> lamp depth=[1.110, 0.937, 1.212] + !! OVERLAP: lamp <-> lamp depth=[1.029, 0.788, 0.958] +============================================================ + + +============================================================ +SCENE: DiningRoom-2432 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6465 (Center Penalty: 1.7257, C1 Heatmap: 0.2788, C2 Repulsion: 3.4890), Relational Loss: 0.0323 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.586 0.730 0.306 -0.515 0.005 1.477 179.94° +table 1.023 0.777 0.603 -0.709 0.010 -0.032 179.50° +chair 0.422 0.923 0.456 -0.348 -0.000 -1.122 0.03° +chair 0.313 0.911 0.433 -1.046 0.002 -1.194 0.02° +chair 0.369 0.970 0.310 -0.608 0.017 0.956 -179.59° +chair 0.331 0.907 0.402 -1.160 -0.002 0.494 90.07° +lamp 1.709 0.994 0.064 -0.490 1.865 -0.782 -0.13° +floor 2.881 0.001 3.611 0.091 -0.000 -0.018 -0.05° +_scene_ 0.057 0.005 0.017 -5.676 -0.006 -5.718 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.586, 0.001, 0.306] + !! OVERLAP: table <-> floor depth=[1.023, 0.001, 0.603] + !! OVERLAP: chair <-> floor depth=[0.422, 0.001, 0.456] + !! OVERLAP: chair <-> floor depth=[0.313, 0.001, 0.433] + !! OVERLAP: chair <-> floor depth=[0.369, 0.001, 0.310] + !! OVERLAP: chair <-> floor depth=[0.331, 0.001, 0.402] +============================================================ + + +============================================================ +SCENE: DiningRoom-24272 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2194 (Center Penalty: 0.9014, C1 Heatmap: 0.0821, C2 Repulsion: 1.2617), Relational Loss: 0.0506 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.898 0.787 -0.143 0.149 -0.016 1.021 91.66° +chair 0.109 0.874 0.181 0.524 0.003 0.846 6.77° +chair 0.415 1.024 0.367 0.993 -0.001 0.234 -0.21° +chair 0.389 0.912 0.564 -0.293 -0.001 1.306 179.81° +chair 0.344 0.946 0.331 0.545 -0.008 1.568 -179.43° +lamp 0.598 0.969 0.912 1.033 1.784 0.276 -0.19° +floor 3.194 0.039 3.000 0.609 -0.007 0.322 -0.00° +_scene_ 0.076 0.007 0.043 -5.649 -0.005 -5.698 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.898, 0.039, -0.143] + !! OVERLAP: chair <-> floor depth=[0.109, 0.039, 0.181] + !! OVERLAP: chair <-> floor depth=[0.415, 0.039, 0.367] + !! OVERLAP: chair <-> floor depth=[0.389, 0.039, 0.564] + !! OVERLAP: chair <-> floor depth=[0.344, 0.039, 0.331] +============================================================ + + +============================================================ +SCENE: DiningRoom-25528 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.5956 (Center Penalty: 2.0030, C1 Heatmap: 0.2185, C2 Repulsion: 2.0889), Relational Loss: 0.0471 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.946 0.712 0.654 -0.869 0.000 -0.251 0.41° +chair 0.354 0.826 0.347 -1.289 0.019 -1.009 23.65° +chair 0.500 0.772 0.450 -0.217 0.000 -1.137 0.01° +chair 0.405 0.793 0.284 0.593 -0.003 -1.072 -46.33° +chair 0.331 0.724 0.333 -1.141 -0.015 0.784 154.45° +chair 0.407 0.723 0.384 0.523 0.005 0.671 -139.22° +chair 0.464 0.774 0.507 -0.312 0.000 0.977 179.97° +lamp 0.459 0.975 0.389 -0.452 1.719 -0.578 -0.04° +floor 3.910 -0.006 3.429 -0.127 -0.000 0.033 -0.01° +_scene_ 0.060 0.009 0.026 -5.668 -0.006 -5.714 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.946, -0.006, 0.654] + !! OVERLAP: chair <-> floor depth=[0.354, -0.006, 0.347] + !! OVERLAP: chair <-> floor depth=[0.500, -0.006, 0.450] + !! OVERLAP: chair <-> floor depth=[0.405, -0.006, 0.284] + !! OVERLAP: chair <-> floor depth=[0.331, -0.006, 0.333] + !! OVERLAP: chair <-> floor depth=[0.407, -0.006, 0.384] + !! OVERLAP: chair <-> floor depth=[0.464, -0.006, 0.507] +============================================================ + + +============================================================ +SCENE: DiningRoom-43067 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2853 (Center Penalty: 1.7380, C1 Heatmap: 0.1926, C2 Repulsion: 1.9661), Relational Loss: 0.0332 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.517 0.879 0.461 1.031 -0.025 -0.224 179.87° +chair 0.387 0.748 0.452 1.055 -0.001 0.462 -90.01° +chair 0.348 0.662 0.372 1.198 0.005 -0.655 -90.01° +chair 0.412 0.716 0.452 0.310 0.001 1.127 179.88° +chair 0.469 0.688 0.433 -0.742 0.000 -0.534 90.11° +chair 0.522 0.681 0.527 -0.929 0.000 0.499 90.02° +chair 0.460 0.699 0.448 0.494 0.000 -1.155 0.11° +lamp 0.662 0.828 0.654 -0.770 1.895 -0.632 0.19° +floor 3.502 -0.003 3.918 0.013 0.001 -0.048 0.01° +_scene_ 0.063 0.002 0.025 -5.660 -0.003 -5.702 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.517, -0.003, 0.461] + !! OVERLAP: chair <-> floor depth=[0.387, -0.003, 0.452] + !! OVERLAP: chair <-> floor depth=[0.348, -0.003, 0.372] + !! OVERLAP: chair <-> floor depth=[0.412, -0.003, 0.452] + !! OVERLAP: chair <-> floor depth=[0.469, -0.003, 0.433] + !! OVERLAP: chair <-> floor depth=[0.522, -0.003, 0.527] + !! OVERLAP: chair <-> floor depth=[0.460, -0.003, 0.448] +============================================================ + + +============================================================ +SCENE: DiningRoom-8121 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4092 (Center Penalty: 0.6606, C1 Heatmap: 0.1471, C2 Repulsion: 3.1546), Relational Loss: 0.0267 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.555 0.937 0.585 0.192 1.847 -1.055 90.22° +table 0.561 1.329 -0.538 -0.782 0.020 -0.481 179.70° +chair 0.277 0.603 0.260 -0.861 -0.001 -0.801 90.03° +table 1.196 0.860 0.414 -0.118 0.002 -1.135 90.25° +chair 0.319 0.700 0.278 -0.785 0.000 -1.461 90.24° +chair 0.322 0.629 0.403 0.882 -0.000 -1.261 -90.12° +chair 0.399 0.707 0.426 0.806 0.002 -1.306 -90.25° +floor 3.082 -0.020 4.067 0.291 0.000 -0.825 0.11° +_scene_ 0.068 0.000 0.018 -5.669 -0.004 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.561, -0.020, -0.538] + !! OVERLAP: chair <-> floor depth=[0.277, -0.020, 0.260] + !! OVERLAP: table <-> chair depth=[0.090, 0.700, 0.019] + !! OVERLAP: table <-> floor depth=[1.196, -0.020, 0.414] + !! OVERLAP: chair <-> floor depth=[0.319, -0.020, 0.278] + !! OVERLAP: chair <-> chair depth=[0.285, 0.629, 0.369] + !! OVERLAP: chair <-> floor depth=[0.322, -0.020, 0.403] + !! OVERLAP: chair <-> floor depth=[0.399, -0.020, 0.426] +============================================================ + + +============================================================ +SCENE: DiningRoom-6919 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1419, Walkable Loss: 1.9286 (Center Penalty: 0.6592, C1 Heatmap: 0.3202, C2 Repulsion: 5.0667), Relational Loss: 0.0482 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.471 0.704 0.448 -1.153 -0.001 1.200 178.46° +table 1.179 0.769 0.722 -1.130 0.001 -0.022 0.08° +chair 0.410 0.696 0.361 -0.552 -0.001 1.092 178.75° +chair 0.369 0.685 0.340 0.059 0.005 1.218 -162.65° +chair 0.392 0.677 0.409 0.061 -0.000 -1.002 0.00° +chair 0.314 0.623 0.371 -0.614 -0.001 -1.045 -0.04° +chair 0.333 0.737 0.340 -1.229 0.001 -0.914 0.07° +chair 0.494 0.649 0.187 0.678 0.009 0.761 -89.45° +chair 0.543 0.686 0.528 -1.500 -0.000 0.196 90.00° +table 0.961 0.804 -0.002 1.172 0.010 1.037 -91.15° +lamp 0.673 0.934 0.671 -1.071 1.872 0.105 -0.17° +floor 5.560 0.019 3.980 -1.269 0.044 0.000 -0.07° +_scene_ 0.064 0.004 0.046 -5.629 -0.004 -5.696 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.471, 0.019, 0.448] + !! OVERLAP: table <-> chair depth=[0.491, 0.686, 0.407] + !! OVERLAP: table <-> floor depth=[1.179, 0.019, 0.722] + !! OVERLAP: chair <-> floor depth=[0.410, 0.019, 0.361] + !! OVERLAP: chair <-> floor depth=[0.369, 0.019, 0.340] + !! OVERLAP: chair <-> floor depth=[0.392, 0.019, 0.409] + !! OVERLAP: chair <-> floor depth=[0.314, 0.019, 0.371] + !! OVERLAP: chair <-> floor depth=[0.333, 0.019, 0.340] + !! OVERLAP: chair <-> floor depth=[0.494, 0.019, 0.187] + !! OVERLAP: chair <-> floor depth=[0.543, 0.019, 0.528] + !! OVERLAP: table <-> floor depth=[0.819, 0.019, -0.002] +============================================================ + + +============================================================ +SCENE: DiningRoom-17147 | 13 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1292, Walkable Loss: 2.3758 (Center Penalty: 1.2701, C1 Heatmap: 0.2643, C2 Repulsion: 4.4711), Relational Loss: 0.0398 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.406 0.638 0.352 -0.978 0.001 0.904 179.85° +table 0.793 0.783 0.262 -0.987 0.036 -0.408 0.34° +chair 0.377 0.700 0.297 -0.713 -0.001 0.556 179.97° +chair 0.389 0.694 0.384 0.135 0.001 0.863 -179.98° +chair 0.356 0.602 0.391 -0.116 -0.001 -1.013 -0.01° +chair 0.253 0.584 0.298 -0.554 -0.001 -0.954 -0.00° +chair 0.402 0.647 0.406 -1.146 0.001 -1.000 0.02° +chair 0.425 0.702 0.502 0.876 0.008 -0.149 -89.99° +chair 0.363 0.659 0.387 -1.502 -0.000 0.066 90.11° +table 1.195 0.821 0.322 1.573 0.003 0.715 -89.68° +lamp 0.704 0.872 0.587 -1.104 1.685 0.024 -0.01° +floor 5.332 -0.001 3.454 -0.620 0.001 -0.651 -0.04° +_scene_ 0.118 -0.011 0.108 -5.627 -0.006 -5.652 -57.17° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.406, -0.001, 0.347] + !! OVERLAP: table <-> floor depth=[0.793, -0.001, 0.262] + !! OVERLAP: chair <-> floor depth=[0.377, -0.001, 0.297] + !! OVERLAP: chair <-> floor depth=[0.389, -0.001, 0.384] + !! OVERLAP: chair <-> floor depth=[0.356, -0.001, 0.391] + !! OVERLAP: chair <-> floor depth=[0.253, -0.001, 0.298] + !! OVERLAP: chair <-> floor depth=[0.402, -0.001, 0.406] + !! OVERLAP: chair <-> floor depth=[0.425, -0.001, 0.502] + !! OVERLAP: chair <-> floor depth=[0.363, -0.001, 0.387] + !! OVERLAP: table <-> floor depth=[1.070, -0.001, 0.322] +============================================================ + + +============================================================ +SCENE: DiningRoom-6259 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.6464 (Center Penalty: 1.1719, C1 Heatmap: 0.1266, C2 Repulsion: 1.8659), Relational Loss: 0.0346 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.824 1.202 0.147 -1.902 0.041 -0.100 90.47° +lamp 1.219 1.299 0.275 -0.783 1.710 0.059 0.15° +table 0.563 0.782 0.425 -0.973 -0.022 -0.102 0.10° +chair 0.369 0.908 0.389 -0.954 -0.006 -0.702 0.06° +chair 0.450 0.968 0.502 -0.148 0.001 -0.885 0.07° +chair 0.329 0.920 0.256 -1.017 0.006 0.521 179.94° +chair 0.155 0.911 0.123 -0.607 0.028 0.642 179.76° +floor 3.409 0.008 2.723 -0.678 -0.008 -0.612 0.21° +_scene_ 0.090 0.007 0.068 -5.635 -0.006 -5.667 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.824, 0.008, 0.147] + !! OVERLAP: table <-> floor depth=[0.563, 0.008, 0.425] + !! OVERLAP: chair <-> floor depth=[0.369, 0.008, 0.389] + !! OVERLAP: chair <-> floor depth=[0.450, 0.008, 0.502] + !! OVERLAP: chair <-> floor depth=[0.329, 0.008, 0.256] + !! OVERLAP: chair <-> floor depth=[0.155, 0.008, 0.123] +============================================================ + + +============================================================ +SCENE: DiningRoom-451 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0443, Walkable Loss: 2.0305 (Center Penalty: 1.2313, C1 Heatmap: 0.2165, C2 Repulsion: 3.1297), Relational Loss: 0.0337 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.875 0.976 0.344 0.473 0.002 -1.343 -90.00° +chair 0.360 0.900 0.446 -1.008 -0.000 -1.163 0.01° +table 0.741 0.686 0.679 -0.813 -0.008 -0.375 -0.42° +chair 0.327 0.809 0.346 -0.175 -0.001 -1.204 0.01° +chair 0.229 0.796 0.220 -0.812 -0.010 0.873 -179.21° +chair 0.383 0.838 0.309 -0.609 -0.011 0.436 -179.98° +cabinet 0.927 1.080 0.188 -1.563 0.008 0.503 89.36° +lamp 0.678 0.812 0.469 -1.011 1.604 -0.055 0.50° +lamp 0.855 0.832 0.705 -0.870 1.844 -0.351 0.00° +floor 2.911 -0.023 3.616 -0.589 0.004 -0.565 0.26° +_scene_ 0.063 0.000 0.015 -5.677 -0.005 -5.721 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.830, -0.023, 0.344] + !! OVERLAP: chair <-> floor depth=[0.360, -0.023, 0.446] + !! OVERLAP: table <-> floor depth=[0.741, -0.023, 0.679] + !! OVERLAP: chair <-> floor depth=[0.327, -0.023, 0.346] + !! OVERLAP: chair <-> floor depth=[0.229, -0.023, 0.220] + !! OVERLAP: chair <-> floor depth=[0.383, -0.023, 0.309] + !! OVERLAP: cabinet <-> floor depth=[0.927, -0.023, 0.188] + !! OVERLAP: lamp <-> lamp depth=[0.625, 0.582, 0.292] +============================================================ + + +============================================================ +SCENE: DiningRoom-18332 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.1913 (Center Penalty: 1.7521, C1 Heatmap: 0.1283, C2 Repulsion: 1.6829), Relational Loss: 0.0473 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.385 0.823 -0.460 -0.587 0.175 0.957 -179.59° +chair 0.450 0.702 0.423 -1.203 0.001 0.262 90.05° +chair 0.410 0.647 0.480 0.966 0.002 0.471 -89.94° +chair 0.416 0.558 0.458 -0.662 -0.000 -0.787 -0.01° +chair 0.350 0.623 0.343 0.138 0.002 -0.998 0.26° +chair 0.345 0.527 0.367 0.177 -0.002 1.038 179.86° +chair 0.216 0.524 0.211 -0.399 0.002 1.082 179.91° +lamp 0.920 0.595 0.712 -0.889 2.145 0.625 0.09° +floor 3.581 -0.008 2.944 -0.004 -0.000 0.005 -0.05° +_scene_ 0.067 0.004 0.033 -5.631 -0.004 -5.680 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.385, -0.008, -0.460] + !! OVERLAP: chair <-> floor depth=[0.450, -0.008, 0.423] + !! OVERLAP: chair <-> floor depth=[0.410, -0.008, 0.480] + !! OVERLAP: chair <-> floor depth=[0.416, -0.008, 0.458] + !! OVERLAP: chair <-> floor depth=[0.350, -0.008, 0.343] + !! OVERLAP: chair <-> floor depth=[0.345, -0.008, 0.367] + !! OVERLAP: chair <-> floor depth=[0.216, -0.008, 0.211] +============================================================ + + +============================================================ +SCENE: DiningRoom-8951 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2565 (Center Penalty: 1.1169, C1 Heatmap: 0.1134, C2 Repulsion: 0.2444), Relational Loss: 0.0115 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.351 0.866 0.399 -0.615 0.002 0.840 122.23° +chair 0.493 0.853 0.387 0.255 0.003 0.918 -93.49° +chair 0.420 0.876 0.248 0.480 -0.004 -0.900 -54.53° +chair 0.377 0.923 0.536 -0.303 0.003 -0.899 -0.24° +lamp 1.055 1.028 1.130 0.282 1.698 -0.749 0.65° +table 0.497 1.211 0.360 1.397 0.002 -1.577 -90.10° +floor 2.916 -0.004 4.010 0.618 0.001 -0.519 0.22° +_scene_ 0.073 0.001 0.021 -5.674 -0.004 -5.712 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.351, -0.004, 0.399] + !! OVERLAP: chair <-> floor depth=[0.493, -0.004, 0.387] + !! OVERLAP: chair <-> floor depth=[0.420, -0.004, 0.248] + !! OVERLAP: chair <-> floor depth=[0.377, -0.004, 0.536] + !! OVERLAP: table <-> floor depth=[0.497, -0.004, 0.360] +============================================================ + + +============================================================ +SCENE: DiningRoom-9982 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.4967 (Center Penalty: 1.6106, C1 Heatmap: 0.2589, C2 Repulsion: 3.3949), Relational Loss: 0.0300 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +shelf 0.873 1.948 0.282 0.845 0.002 1.494 -90.14° +table 0.968 0.748 0.740 -0.953 -0.009 -0.448 90.01° +chair 0.373 0.945 0.498 -1.056 -0.002 -1.352 0.21° +chair 0.483 0.912 0.506 -0.278 0.001 -1.174 -90.18° +chair 0.438 0.942 0.538 -1.230 -0.000 -0.235 90.02° +chair 0.439 0.919 0.426 -0.546 -0.012 0.625 -179.71° +lamp 1.779 0.703 -0.026 0.368 2.094 -0.897 0.17° +floor 2.914 -0.001 4.046 0.003 0.001 -0.057 -0.01° +_scene_ 0.059 -0.000 0.026 -5.665 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: shelf <-> floor depth=[0.873, -0.001, 0.282] + !! OVERLAP: table <-> chair depth=[0.426, 0.748, 0.426] + !! OVERLAP: table <-> floor depth=[0.968, -0.001, 0.740] + !! OVERLAP: chair <-> floor depth=[0.373, -0.001, 0.498] + !! OVERLAP: chair <-> floor depth=[0.483, -0.001, 0.506] + !! OVERLAP: chair <-> floor depth=[0.438, -0.001, 0.538] + !! OVERLAP: chair <-> floor depth=[0.439, -0.001, 0.426] +============================================================ + + +============================================================ +SCENE: DiningRoom-168152 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3652 (Center Penalty: 0.6495, C1 Heatmap: 0.2741, C2 Repulsion: 2.4824), Relational Loss: 0.0249 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.662 1.822 0.327 -1.622 0.005 0.476 89.85° +table 0.707 0.801 0.537 1.277 -0.028 -0.089 -0.13° +chair 0.453 0.884 0.428 0.295 0.014 -0.894 -0.39° +chair 0.448 1.004 0.385 1.118 0.002 -0.606 0.02° +chair 0.491 0.949 0.485 0.361 -0.001 0.808 179.83° +chair 0.297 0.918 0.405 1.141 0.001 0.492 -179.88° +floor 4.331 0.014 4.021 -0.290 -0.007 -0.937 -0.65° +_scene_ 0.071 -0.001 0.026 -5.672 -0.003 -5.707 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.662, 0.014, 0.327] + !! OVERLAP: table <-> floor depth=[0.707, 0.014, 0.537] + !! OVERLAP: chair <-> floor depth=[0.453, 0.014, 0.428] + !! OVERLAP: chair <-> floor depth=[0.448, 0.014, 0.385] + !! OVERLAP: chair <-> floor depth=[0.491, 0.014, 0.485] + !! OVERLAP: chair <-> floor depth=[0.297, 0.014, 0.405] +============================================================ + + +============================================================ +SCENE: DiningRoom-5492 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1067 (Center Penalty: 0.4866, C1 Heatmap: 0.2520, C2 Repulsion: 2.0923), Relational Loss: 0.0202 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.475 0.744 0.289 0.685 0.022 1.318 -0.90° +chair 0.347 0.716 0.413 0.146 0.004 1.970 179.80° +chair 0.276 0.685 0.275 0.727 0.021 1.714 -179.87° +chair 0.347 0.750 0.353 0.475 0.001 0.642 0.28° +chair 0.299 0.754 0.359 1.087 0.001 0.520 0.04° +chair 0.542 0.746 0.520 -0.560 -0.001 1.092 90.46° +chair 0.373 0.785 0.436 1.538 0.006 1.166 -90.31° +table 1.325 0.730 0.519 -1.795 0.006 -0.358 89.94° +lamp 0.375 0.682 0.291 0.302 1.930 1.412 -0.02° +floor 5.411 0.002 5.685 -0.222 0.001 1.122 0.03° +_scene_ 0.056 -0.000 0.016 -5.669 -0.005 -5.717 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.475, 0.002, 0.289] + !! OVERLAP: chair <-> floor depth=[0.347, 0.002, 0.413] + !! OVERLAP: chair <-> floor depth=[0.276, 0.002, 0.275] + !! OVERLAP: chair <-> floor depth=[0.347, 0.002, 0.353] + !! OVERLAP: chair <-> floor depth=[0.299, 0.002, 0.359] + !! OVERLAP: chair <-> floor depth=[0.542, 0.002, 0.520] + !! OVERLAP: chair <-> floor depth=[0.373, 0.002, 0.436] + !! OVERLAP: table <-> floor depth=[1.325, 0.002, 0.519] +============================================================ + + +============================================================ +SCENE: DiningRoom-375 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.0205 (Center Penalty: 1.4130, C1 Heatmap: 0.1956, C2 Repulsion: 2.2550), Relational Loss: 0.0364 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.916 0.676 0.705 0.932 -0.015 0.166 1.12° +chair 0.495 0.853 0.499 -0.508 -0.004 0.820 140.43° +chair 0.536 0.959 0.591 0.755 -0.001 0.737 179.60° +chair 0.474 0.890 0.271 -0.668 0.015 -0.216 -0.34° +chair 0.347 0.940 0.220 0.778 0.005 -0.282 -67.66° +lamp 0.452 0.677 0.034 0.763 1.976 0.631 -0.13° +floor 3.031 -0.012 2.672 0.090 -0.015 0.871 -0.51° +_scene_ 0.069 -0.000 0.019 -5.667 -0.004 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.536, 0.676, 0.077] + !! OVERLAP: table <-> chair depth=[0.347, 0.676, 0.015] + !! OVERLAP: table <-> floor depth=[0.916, -0.012, 0.705] + !! OVERLAP: chair <-> floor depth=[0.495, -0.012, 0.499] + !! OVERLAP: chair <-> floor depth=[0.536, -0.012, 0.591] + !! OVERLAP: chair <-> floor depth=[0.474, -0.012, 0.271] + !! OVERLAP: chair <-> floor depth=[0.347, -0.012, 0.220] +============================================================ + + +============================================================ +SCENE: DiningRoom-3017 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2192, Walkable Loss: 1.2145 (Center Penalty: 0.8667, C1 Heatmap: 0.2298, C2 Repulsion: 0.8199), Relational Loss: 0.0104 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.186 0.720 0.628 -0.197 -0.002 -1.228 0.05° +chair 0.426 0.853 0.427 -1.154 0.001 -0.683 87.31° +chair 0.434 0.876 0.509 -0.777 -0.005 0.559 179.72° +chair 0.464 0.816 0.499 0.516 -0.001 0.699 -179.99° +table 0.657 1.199 0.339 1.196 0.000 -0.856 -90.06° +lamp 0.579 0.509 0.558 -0.382 2.201 -0.726 0.06° +floor 2.936 -0.020 3.525 0.059 -0.029 -0.991 0.13° +_scene_ 0.065 0.002 0.016 -5.672 -0.005 -5.716 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.186, -0.020, 0.628] + !! OVERLAP: chair <-> floor depth=[0.426, -0.020, 0.427] + !! OVERLAP: chair <-> floor depth=[0.434, -0.020, 0.467] + !! OVERLAP: chair <-> floor depth=[0.464, -0.020, 0.322] + !! OVERLAP: table <-> floor depth=[0.657, -0.020, 0.339] +============================================================ + + +============================================================ +SCENE: DiningRoom-164 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8292 (Center Penalty: 0.8622, C1 Heatmap: 0.3372, C2 Repulsion: 3.4858), Relational Loss: 0.0309 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.403 0.901 0.415 -1.174 -0.001 0.171 90.06° +chair 0.371 0.895 0.333 -1.171 0.007 0.920 90.04° +chair 0.386 0.886 0.482 1.009 0.001 0.048 -90.00° +chair 0.424 0.891 0.488 0.917 -0.000 0.715 -90.02° +chair 0.435 0.894 0.476 0.310 -0.000 1.630 180.00° +chair 0.481 0.902 0.489 0.037 -0.000 -1.102 0.10° +table 1.677 0.628 0.240 -0.351 0.001 -1.382 0.15° +table 0.805 0.827 0.652 -0.466 -0.004 0.896 90.92° +lamp 1.011 0.888 0.506 0.007 1.745 0.903 89.99° +floor 3.324 0.001 4.932 -0.332 -0.014 0.898 -0.28° +_scene_ 0.077 0.008 0.047 -5.642 -0.004 -5.694 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.403, 0.001, 0.415] + !! OVERLAP: chair <-> floor depth=[0.371, 0.001, 0.333] + !! OVERLAP: chair <-> floor depth=[0.386, 0.001, 0.482] + !! OVERLAP: chair <-> floor depth=[0.424, 0.001, 0.488] + !! OVERLAP: chair <-> floor depth=[0.435, 0.001, 0.476] + !! OVERLAP: chair <-> table depth=[0.481, 0.628, 0.086] + !! OVERLAP: chair <-> floor depth=[0.481, 0.001, 0.489] + !! OVERLAP: table <-> floor depth=[1.677, 0.001, 0.240] + !! OVERLAP: table <-> floor depth=[0.805, 0.001, 0.652] +============================================================ + + +============================================================ +SCENE: DiningRoom-34036 | 15 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0413, Walkable Loss: 2.1977 (Center Penalty: 1.6369, C1 Heatmap: 0.2423, C2 Repulsion: 1.8346), Relational Loss: 0.0245 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.177 0.665 0.417 -1.067 -0.045 0.383 92.46° +cabinet 2.129 2.581 -0.601 -0.989 -0.051 -1.183 89.37° +cabinet 0.480 1.144 0.333 1.291 0.001 -0.475 -90.02° +cabinet 0.564 0.973 0.525 1.290 0.002 -1.755 -90.00° +chair 0.400 0.755 0.425 -1.297 0.005 -0.361 89.99° +chair 0.392 0.787 0.399 0.564 0.007 -0.843 -90.00° +chair 0.382 0.750 0.415 0.763 0.001 0.541 -89.93° +chair 0.399 0.749 0.455 -1.066 0.000 0.964 90.08° +chair 0.401 0.706 0.433 -0.328 0.004 1.484 162.47° +chair 0.387 0.704 0.370 0.017 0.000 -1.471 0.05° +lamp 0.361 0.880 0.349 -0.128 1.593 1.044 0.02° +lamp 0.226 0.964 0.241 0.514 1.622 0.672 -89.98° +lamp 0.328 0.746 0.347 1.165 1.814 -0.292 0.05° +floor 3.584 -0.002 4.815 -0.235 0.000 -0.287 0.01° +_scene_ 0.062 0.002 0.016 -5.675 -0.005 -5.722 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.177, -0.002, 0.417] + !! OVERLAP: cabinet <-> floor depth=[2.103, -0.002, -0.601] + !! OVERLAP: cabinet <-> floor depth=[0.480, -0.002, 0.333] + !! OVERLAP: cabinet <-> floor depth=[0.549, -0.002, 0.525] + !! OVERLAP: chair <-> floor depth=[0.400, -0.002, 0.425] + !! OVERLAP: chair <-> floor depth=[0.392, -0.002, 0.399] + !! OVERLAP: chair <-> floor depth=[0.382, -0.002, 0.415] + !! OVERLAP: chair <-> floor depth=[0.399, -0.002, 0.455] + !! OVERLAP: chair <-> floor depth=[0.401, -0.002, 0.433] + !! OVERLAP: chair <-> floor depth=[0.387, -0.002, 0.370] +============================================================ + + +============================================================ +SCENE: DiningRoom-114621 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1433, Walkable Loss: 1.7084 (Center Penalty: 1.0218, C1 Heatmap: 0.1883, C2 Repulsion: 2.6796), Relational Loss: 0.0385 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 1.182 1.309 0.207 0.789 0.001 1.250 -179.94° +table 0.743 0.791 0.444 -0.349 -0.012 -0.900 90.59° +chair 0.240 0.813 0.357 -0.701 -0.005 -0.940 -0.09° +chair 0.337 0.845 0.358 -0.713 -0.003 -0.317 118.65° +chair 0.366 0.806 0.459 1.038 0.003 -0.642 0.11° +chair 0.458 0.817 0.485 1.071 0.003 -0.003 -90.03° +lamp 0.848 0.910 0.844 0.660 1.756 -0.400 0.02° +floor 4.097 -0.021 3.004 1.269 0.008 -0.052 2.18° +_scene_ 0.066 0.001 0.022 -5.673 -0.005 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[1.182, -0.021, 0.207] + !! OVERLAP: table <-> chair depth=[0.139, 0.791, 0.357] + !! OVERLAP: table <-> floor depth=[0.743, -0.021, 0.444] + !! OVERLAP: chair <-> floor depth=[0.198, -0.021, 0.357] + !! OVERLAP: chair <-> floor depth=[0.235, -0.021, 0.358] + !! OVERLAP: chair <-> floor depth=[0.366, -0.021, 0.459] + !! OVERLAP: chair <-> floor depth=[0.458, -0.021, 0.485] +============================================================ + + +============================================================ +SCENE: DiningRoom-33238 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8741 (Center Penalty: 0.5841, C1 Heatmap: 0.2584, C2 Repulsion: 0.4167), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +cabinet 0.596 1.290 0.209 -0.853 0.018 1.035 89.98° +table 1.212 0.995 0.459 1.479 -0.001 0.404 -89.80° +table 1.120 0.713 0.951 0.207 -0.005 -0.794 90.48° +floor 3.940 0.008 3.489 0.788 -0.010 0.039 0.30° +_scene_ -0.034 0.093 0.073 -5.210 0.056 -5.401 -59.74° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: cabinet <-> floor depth=[0.596, 0.008, 0.209] + !! OVERLAP: table <-> floor depth=[1.212, 0.008, 0.459] + !! OVERLAP: table <-> floor depth=[1.120, 0.008, 0.951] +============================================================ + + +============================================================ +SCENE: DiningRoom-69393 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0858, Walkable Loss: 1.7238 (Center Penalty: 0.8773, C1 Heatmap: 0.3587, C2 Repulsion: 2.7979), Relational Loss: 0.0416 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.452 0.833 0.531 -1.014 0.001 0.487 90.03° +chair 0.466 0.840 0.465 -1.132 0.000 1.332 89.85° +chair 0.359 0.813 0.355 0.785 0.001 0.705 -90.07° +chair 0.429 0.838 0.500 0.744 0.002 1.385 -90.03° +chair 0.429 0.824 0.396 -0.130 0.003 2.087 -179.95° +chair 0.368 0.803 0.123 -0.371 0.019 -0.835 -0.35° +table 1.766 0.642 0.476 -0.160 -0.004 -1.643 -0.20° +table 0.905 0.825 0.446 -0.165 -0.014 1.076 90.53° +lamp 0.666 0.888 0.636 -0.040 1.823 0.937 -0.03° +floor 3.859 -0.004 5.305 -0.123 -0.001 0.858 0.00° +_scene_ 0.080 0.001 0.029 -5.655 -0.005 -5.700 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.452, -0.004, 0.531] + !! OVERLAP: chair <-> floor depth=[0.466, -0.004, 0.465] + !! OVERLAP: chair <-> floor depth=[0.359, -0.004, 0.355] + !! OVERLAP: chair <-> floor depth=[0.429, -0.004, 0.500] + !! OVERLAP: chair <-> floor depth=[0.429, -0.004, 0.396] + !! OVERLAP: chair <-> floor depth=[0.368, -0.004, 0.123] + !! OVERLAP: table <-> floor depth=[1.766, -0.004, 0.390] + !! OVERLAP: table <-> floor depth=[0.905, -0.004, 0.446] +============================================================ + + +============================================================ +SCENE: DiningRoom-87276 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6379 (Center Penalty: 1.8299, C1 Heatmap: 0.2717, C2 Repulsion: 2.9533), Relational Loss: 0.0462 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.153 0.983 0.127 -0.342 0.031 0.988 -97.33° +chair 0.269 0.795 0.277 -1.069 0.003 0.926 138.06° +chair 0.520 0.731 0.511 0.051 0.001 1.085 179.97° +chair 0.444 0.755 0.485 0.902 0.002 0.957 -112.04° +chair 0.504 0.748 0.504 0.858 -0.000 -0.821 -45.49° +chair 0.438 0.729 0.425 -0.080 0.003 -1.032 0.07° +chair 0.438 0.775 0.453 -1.018 0.000 -0.722 49.72° +chair 0.499 0.753 0.502 1.127 0.001 0.148 -90.07° +chair 0.420 0.755 0.460 -1.272 -0.001 0.132 90.02° +lamp 0.675 0.937 0.665 -0.744 1.742 -0.084 -0.19° +floor 4.987 -0.006 3.718 -0.173 -0.001 0.124 -0.07° +_scene_ 0.107 -0.006 0.115 -5.577 0.000 -5.588 -57.45° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.444, 0.731, 0.127] + !! OVERLAP: table <-> floor depth=[1.153, -0.006, 0.127] + !! OVERLAP: chair <-> floor depth=[0.269, -0.006, 0.277] + !! OVERLAP: chair <-> floor depth=[0.520, -0.006, 0.511] + !! OVERLAP: chair <-> floor depth=[0.444, -0.006, 0.485] + !! OVERLAP: chair <-> floor depth=[0.504, -0.006, 0.504] + !! OVERLAP: chair <-> floor depth=[0.438, -0.006, 0.425] + !! OVERLAP: chair <-> floor depth=[0.438, -0.006, 0.453] + !! OVERLAP: chair <-> floor depth=[0.499, -0.006, 0.502] + !! OVERLAP: chair <-> floor depth=[0.420, -0.006, 0.460] +============================================================ + + +============================================================ +SCENE: DiningRoom-16460 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5321 (Center Penalty: 0.7659, C1 Heatmap: 0.3016, C2 Repulsion: 2.6247), Relational Loss: 0.0363 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.143 0.786 0.642 1.159 -0.002 -0.719 -89.86° +table 0.645 0.779 0.098 -1.412 -0.087 0.416 90.71° +chair 0.382 0.775 0.399 -1.613 0.002 -0.388 0.13° +chair 0.363 0.745 0.372 -0.956 0.002 -0.345 0.19° +chair 0.349 0.750 0.418 -1.651 0.000 1.101 179.86° +chair 0.405 0.766 0.443 -0.761 0.001 0.916 179.96° +table 1.148 0.869 0.226 -1.224 0.007 -1.139 -0.00° +lamp 0.180 0.734 0.167 -1.047 2.042 0.056 0.01° +chair 0.373 0.787 0.258 -0.345 -0.004 -0.910 -60.89° +chair 0.457 0.665 0.353 0.111 0.006 1.024 -100.77° +floor 5.536 -0.002 3.383 -0.912 -0.000 0.321 0.00° +_scene_ 0.067 0.000 0.027 -5.670 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.143, -0.002, 0.642] + !! OVERLAP: table <-> floor depth=[0.645, -0.002, 0.098] + !! OVERLAP: chair <-> floor depth=[0.382, -0.002, 0.399] + !! OVERLAP: chair <-> floor depth=[0.363, -0.002, 0.372] + !! OVERLAP: chair <-> floor depth=[0.349, -0.002, 0.418] + !! OVERLAP: chair <-> floor depth=[0.405, -0.002, 0.443] + !! OVERLAP: table <-> floor depth=[1.148, -0.002, 0.226] + !! OVERLAP: chair <-> floor depth=[0.373, -0.002, 0.258] + !! OVERLAP: chair <-> floor depth=[0.457, -0.002, 0.353] +============================================================ + + +============================================================ +SCENE: DiningRoom-31322 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1729, Walkable Loss: 1.4088 (Center Penalty: 0.7290, C1 Heatmap: 0.2506, C2 Repulsion: 2.3966), Relational Loss: 0.0098 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.994 0.777 0.329 -1.452 0.003 1.692 -180.00° +cabinet 0.531 1.026 0.332 0.726 -0.001 -1.369 -90.09° +cabinet 0.479 1.069 0.331 0.861 0.003 -0.426 -90.11° +table 1.296 0.716 0.295 -0.783 -0.020 -1.145 90.42° +chair 0.329 0.833 0.397 0.134 0.003 -0.729 -90.11° +lamp 0.370 1.392 0.390 -0.745 1.579 -1.062 125.62° +chair 0.292 0.839 0.312 0.009 -0.001 -1.422 -89.73° +chair 0.368 0.911 0.370 -1.525 0.005 -1.349 90.08° +chair 0.335 0.891 0.403 -1.407 0.002 -0.476 89.97° +floor 3.877 -0.015 4.433 -0.979 0.007 -0.092 0.30° +_scene_ 0.071 -0.000 0.024 -5.673 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.994, -0.015, 0.329] + !! OVERLAP: cabinet <-> floor depth=[0.499, -0.015, 0.332] + !! OVERLAP: cabinet <-> floor depth=[0.338, -0.015, 0.331] + !! OVERLAP: table <-> chair depth=[0.002, 0.716, 0.027] + !! OVERLAP: table <-> chair depth=[0.090, 0.716, 0.128] + !! OVERLAP: table <-> floor depth=[1.296, -0.015, 0.295] + !! OVERLAP: chair <-> floor depth=[0.329, -0.015, 0.397] + !! OVERLAP: chair <-> floor depth=[0.292, -0.015, 0.312] + !! OVERLAP: chair <-> floor depth=[0.368, -0.015, 0.370] + !! OVERLAP: chair <-> floor depth=[0.335, -0.015, 0.403] +============================================================ + + +============================================================ +SCENE: DiningRoom-20718 | 11 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0688, Walkable Loss: 1.6218 (Center Penalty: 0.4837, C1 Heatmap: 0.4069, C2 Repulsion: 4.0623), Relational Loss: 0.0383 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.974 0.775 0.306 -1.010 -0.013 -1.036 -91.94° +chair 0.373 0.808 0.417 -0.843 0.001 -0.066 179.95° +chair 0.387 0.851 0.468 -0.490 0.001 -1.470 -0.31° +chair 0.451 0.798 0.478 -1.485 0.000 -1.566 0.08° +chair 0.440 0.842 0.485 -1.466 0.003 -0.078 -179.94° +table 0.949 0.968 0.354 0.774 0.004 -1.456 -90.03° +lamp 0.701 0.904 0.707 -0.919 1.811 -1.170 -0.04° +table 1.757 0.750 0.649 -0.403 -0.000 1.779 -90.13° +chair 0.461 0.496 0.439 0.701 0.001 1.008 0.00° +floor 4.319 -0.001 5.453 -0.980 0.000 -0.140 0.37° +_scene_ 0.072 0.002 0.027 -5.674 -0.005 -5.717 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.974, -0.001, 0.306] + !! OVERLAP: chair <-> floor depth=[0.373, -0.001, 0.417] + !! OVERLAP: chair <-> floor depth=[0.387, -0.001, 0.468] + !! OVERLAP: chair <-> floor depth=[0.451, -0.001, 0.478] + !! OVERLAP: chair <-> floor depth=[0.440, -0.001, 0.485] + !! OVERLAP: table <-> floor depth=[0.880, -0.001, 0.354] + !! OVERLAP: table <-> floor depth=[1.757, -0.001, 0.649] + !! OVERLAP: chair <-> floor depth=[0.461, -0.001, 0.439] +============================================================ + + +============================================================ +SCENE: DiningRoom-7122 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2392, Walkable Loss: 1.1452 (Center Penalty: 0.5107, C1 Heatmap: 0.2056, C2 Repulsion: 2.3501), Relational Loss: 0.0265 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.178 0.911 0.356 -0.677 0.003 0.798 -179.79° +chair 0.345 0.945 0.499 0.511 0.006 -1.564 -90.03° +chair 0.444 0.919 0.464 0.540 0.005 -0.835 -90.13° +chair 0.370 0.936 0.384 -0.977 -0.001 -1.383 89.96° +chair 0.333 0.899 0.393 -0.971 0.002 -0.775 90.10° +lamp 0.680 0.668 0.214 -0.325 1.767 -1.032 -89.54° +table 0.546 0.776 0.546 -0.283 -0.001 -1.397 0.73° +floor 3.216 0.000 3.648 0.001 -0.025 -1.087 0.04° +_scene_ 0.064 0.001 0.029 -5.662 -0.003 -5.700 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.178, 0.000, 0.117] + !! OVERLAP: chair <-> floor depth=[0.345, 0.000, 0.499] + !! OVERLAP: chair <-> floor depth=[0.444, 0.000, 0.464] + !! OVERLAP: chair <-> floor depth=[0.370, 0.000, 0.384] + !! OVERLAP: chair <-> floor depth=[0.333, 0.000, 0.393] + !! OVERLAP: table <-> floor depth=[0.546, 0.000, 0.546] +============================================================ + + +============================================================ +SCENE: DiningRoom-22339 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1096, Walkable Loss: 2.7170 (Center Penalty: 1.8261, C1 Heatmap: 0.2280, C2 Repulsion: 3.5424), Relational Loss: 0.0419 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.430 0.923 0.441 -0.193 -0.001 -1.372 0.21° +table 0.806 0.763 0.400 -0.326 -0.005 -0.851 0.49° +chair 0.390 0.950 0.430 -0.351 0.000 1.114 179.97° +chair 0.429 0.942 0.519 -0.711 -0.001 -0.534 89.67° +chair 0.408 0.963 0.451 -0.654 0.002 0.130 104.30° +chair 0.456 0.978 0.497 0.610 0.001 -0.732 -89.81° +chair 0.530 0.923 0.612 0.857 0.006 0.334 -104.38° +lamp 0.756 0.797 0.682 0.140 1.852 -0.653 -0.27° +floor 2.831 -0.046 4.156 0.579 -0.031 -0.730 0.56° +_scene_ 0.064 -0.002 0.023 -5.659 -0.004 -5.704 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.430, -0.046, 0.441] + !! OVERLAP: table <-> chair depth=[0.233, 0.763, 0.143] + !! OVERLAP: table <-> floor depth=[0.806, -0.046, 0.400] + !! OVERLAP: chair <-> floor depth=[0.390, -0.046, 0.430] + !! OVERLAP: chair <-> floor depth=[0.340, -0.046, 0.519] + !! OVERLAP: chair <-> floor depth=[0.387, -0.046, 0.451] + !! OVERLAP: chair <-> floor depth=[0.456, -0.046, 0.497] + !! OVERLAP: chair <-> floor depth=[0.530, -0.046, 0.612] +============================================================ + + +============================================================ +SCENE: DiningRoom-12376 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2599 (Center Penalty: 0.9592, C1 Heatmap: 0.5233, C2 Repulsion: 4.4105), Relational Loss: 0.0130 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.655 0.763 0.733 -0.789 0.008 0.879 90.00° +chair 0.511 1.011 0.475 0.374 -0.001 0.688 -179.85° +chair 0.478 0.961 0.559 0.219 0.000 -1.007 -89.80° +chair 0.488 0.931 0.526 -1.279 -0.001 -0.127 179.58° +chair 0.530 0.952 0.599 -1.210 0.000 -1.154 0.05° +table 1.311 1.479 0.239 -2.088 0.007 0.219 90.21° +table 0.829 1.496 0.262 -2.255 0.005 -0.946 89.91° +lamp 1.368 1.185 1.200 -0.656 1.663 -0.649 90.34° +cabinet 0.336 1.217 0.331 1.762 -0.009 -1.643 -0.16° +cabinet 0.509 1.221 0.202 1.311 0.002 -2.244 -0.30° +cabinet 0.523 1.214 0.159 0.909 0.001 -1.613 0.04° +cabinet 0.651 1.257 0.299 0.044 -0.001 -2.387 -0.02° +floor 4.993 0.007 4.674 -0.488 0.003 -0.658 0.09° +_scene_ 0.070 0.000 0.024 -5.673 -0.004 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.655, 0.007, 0.733] + !! OVERLAP: chair <-> floor depth=[0.511, 0.007, 0.475] + !! OVERLAP: chair <-> floor depth=[0.478, 0.007, 0.559] + !! OVERLAP: chair <-> table depth=[0.090, 0.931, 0.037] + !! OVERLAP: chair <-> floor depth=[0.488, 0.007, 0.526] + !! OVERLAP: chair <-> floor depth=[0.530, 0.007, 0.599] + !! OVERLAP: table <-> floor depth=[1.311, 0.007, 0.239] + !! OVERLAP: table <-> floor depth=[0.829, 0.007, 0.262] + !! OVERLAP: cabinet <-> floor depth=[0.336, 0.007, 0.331] + !! OVERLAP: cabinet <-> floor depth=[0.509, 0.007, 0.202] + !! OVERLAP: cabinet <-> floor depth=[0.523, 0.007, 0.159] + !! OVERLAP: cabinet <-> floor depth=[0.651, 0.007, 0.299] +============================================================ + + +============================================================ +SCENE: DiningRoom-19885 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4724 (Center Penalty: 1.0641, C1 Heatmap: 0.1085, C2 Repulsion: 1.6073), Relational Loss: 0.0528 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.721 0.725 -0.233 0.238 0.008 1.312 2.30° +chair 0.250 0.883 0.449 -0.221 0.008 1.031 179.92° +chair 0.451 0.907 0.430 -0.837 0.001 0.955 135.15° +chair 0.272 0.952 0.248 0.035 0.009 0.579 0.13° +chair 0.478 0.959 0.067 -1.003 -0.009 -0.120 48.69° +chair 0.405 0.907 0.396 0.868 0.001 0.909 -133.65° +chair 0.427 0.849 0.398 0.976 -0.002 -0.078 -57.99° +floor 3.544 -0.007 3.384 -0.117 0.011 1.184 0.58° +_scene_ 0.065 0.051 0.094 -5.125 -0.008 -5.340 -59.23° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.721, -0.007, -0.233] + !! OVERLAP: chair <-> floor depth=[0.250, -0.007, 0.449] + !! OVERLAP: chair <-> floor depth=[0.451, -0.007, 0.430] + !! OVERLAP: chair <-> floor depth=[0.272, -0.007, 0.248] + !! OVERLAP: chair <-> floor depth=[0.478, -0.007, 0.067] + !! OVERLAP: chair <-> floor depth=[0.405, -0.007, 0.396] + !! OVERLAP: chair <-> floor depth=[0.427, -0.007, 0.398] +============================================================ + + +============================================================ +SCENE: DiningRoom-2831 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3019 (Center Penalty: 1.8074, C1 Heatmap: 0.1967, C2 Repulsion: 1.6860), Relational Loss: 0.0164 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.596 0.813 0.178 0.664 0.005 -0.384 -0.47° +chair 0.370 1.067 0.485 -0.238 -0.002 -0.964 -0.10° +chair 0.337 0.937 0.317 0.756 0.002 -1.025 -0.14° +chair 0.460 0.937 0.527 -0.071 0.002 1.023 179.71° +chair 0.455 0.999 0.492 0.871 0.001 0.781 -179.84° +lamp 0.495 0.886 0.110 -0.878 1.813 -0.453 -0.33° +floor 3.144 -0.006 3.066 -0.027 0.002 -0.052 -0.02° +_scene_ 0.069 0.001 0.023 -5.666 -0.005 -5.715 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.596, -0.006, 0.178] + !! OVERLAP: chair <-> floor depth=[0.370, -0.006, 0.485] + !! OVERLAP: chair <-> floor depth=[0.337, -0.006, 0.317] + !! OVERLAP: chair <-> floor depth=[0.460, -0.006, 0.527] + !! OVERLAP: chair <-> floor depth=[0.455, -0.006, 0.492] +============================================================ + + +============================================================ +SCENE: DiningRoom-60525 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0388, Walkable Loss: 1.3980 (Center Penalty: 0.7175, C1 Heatmap: 0.1595, C2 Repulsion: 2.7644), Relational Loss: 0.0148 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.969 0.652 0.314 0.183 0.024 1.337 90.73° +chair 0.345 0.902 0.417 -0.620 0.001 1.336 90.05° +chair 0.400 0.868 0.410 -0.678 -0.001 0.533 90.09° +chair 0.301 0.882 0.399 1.057 0.002 0.270 -90.03° +chair 0.347 0.920 0.439 0.972 0.004 0.894 -90.17° +table 0.645 1.007 0.258 -1.085 -0.025 0.767 91.17° +lamp 0.823 1.177 0.850 0.362 1.682 0.850 -0.05° +floor 3.651 -0.012 4.542 0.457 -0.010 0.925 -0.16° +_scene_ 0.063 0.002 0.018 -5.672 -0.005 -5.719 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.969, -0.012, 0.314] + !! OVERLAP: chair <-> floor depth=[0.345, -0.012, 0.417] + !! OVERLAP: chair <-> table depth=[0.116, 0.868, 0.100] + !! OVERLAP: chair <-> floor depth=[0.400, -0.012, 0.410] + !! OVERLAP: chair <-> floor depth=[0.301, -0.012, 0.399] + !! OVERLAP: chair <-> floor depth=[0.347, -0.012, 0.439] + !! OVERLAP: table <-> floor depth=[0.606, -0.012, 0.258] +============================================================ + + +============================================================ +SCENE: DiningRoom-55572 | 14 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0116, Walkable Loss: 2.4973 (Center Penalty: 0.1670, C1 Heatmap: 0.7586, C2 Repulsion: 8.6170), Relational Loss: 0.0455 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.039 0.421 1.076 0.991 0.000 -1.282 0.23° +sofa 1.325 0.734 0.409 2.089 0.019 -2.113 -0.28° +wardrobe 0.625 2.430 0.451 -1.864 0.011 1.108 89.76° +chair 0.561 0.868 0.589 -0.428 -0.001 -1.654 -90.09° +chair 0.505 0.869 0.538 -0.975 -0.001 -1.039 89.82° +lamp 0.829 0.846 0.812 0.987 1.780 -1.185 -0.02° +chair 0.404 0.872 0.412 1.345 0.011 0.043 -166.24° +sofa 1.977 0.892 0.670 0.786 -0.021 -2.930 0.13° +sofa 1.578 0.830 0.706 1.260 -0.012 -0.889 -89.22° +table 0.785 1.099 0.434 2.210 0.002 1.133 179.96° +cabinet 0.613 1.325 0.130 -1.737 0.005 1.125 89.97° +table 0.499 1.356 0.264 -0.849 0.003 1.339 -179.91° +floor 5.433 -0.036 5.775 0.551 0.013 -0.946 0.01° +_scene_ 0.070 0.000 0.024 -5.671 -0.004 -5.707 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> sofa depth=[1.039, 0.421, 0.498] + !! OVERLAP: table <-> floor depth=[1.039, -0.036, 1.076] + !! OVERLAP: sofa <-> floor depth=[1.325, -0.036, 0.409] + !! OVERLAP: wardrobe <-> cabinet depth=[0.491, 1.325, 0.130] + !! OVERLAP: wardrobe <-> floor depth=[0.613, -0.036, 0.451] + !! OVERLAP: chair <-> floor depth=[0.561, -0.036, 0.589] + !! OVERLAP: chair <-> floor depth=[0.505, -0.036, 0.538] + !! OVERLAP: chair <-> floor depth=[0.404, -0.036, 0.412] + !! OVERLAP: sofa <-> floor depth=[1.977, -0.036, 0.670] + !! OVERLAP: sofa <-> floor depth=[1.578, -0.036, 0.706] + !! OVERLAP: table <-> floor depth=[0.785, -0.036, 0.434] + !! OVERLAP: cabinet <-> floor depth=[0.613, -0.036, 0.130] + !! OVERLAP: table <-> floor depth=[0.499, -0.036, 0.264] +============================================================ + + +============================================================ +SCENE: DiningRoom-24191 | 12 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.9461 (Center Penalty: 1.9436, C1 Heatmap: 0.3256, C2 Repulsion: 3.7102), Relational Loss: 0.0429 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.167 0.845 0.168 0.208 0.027 -0.828 -89.31° +chair 0.480 0.789 0.500 0.985 0.003 -1.150 -90.19° +chair 0.351 0.825 0.456 1.003 0.004 -0.290 -89.88° +chair 0.616 0.806 0.549 0.308 0.001 1.250 -179.99° +chair 0.496 0.785 0.546 -0.887 0.001 -0.262 90.07° +chair 0.471 0.816 0.455 -0.782 0.000 -1.181 90.07° +chair 0.468 0.847 0.479 0.024 0.001 -1.710 -0.00° +chair 0.527 0.835 0.577 -0.928 0.001 0.511 90.06° +chair 0.436 0.827 0.542 1.024 0.002 0.521 -90.25° +lamp 0.677 0.855 0.635 -0.608 1.764 -0.536 -0.41° +floor 3.631 -0.004 4.998 -0.193 -0.004 -0.115 -0.07° +_scene_ 0.077 0.001 0.066 -5.646 -0.007 -5.663 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.047, 0.789, 0.012] + !! OVERLAP: table <-> floor depth=[1.167, -0.004, 0.168] + !! OVERLAP: chair <-> floor depth=[0.480, -0.004, 0.500] + !! OVERLAP: chair <-> floor depth=[0.351, -0.004, 0.456] + !! OVERLAP: chair <-> floor depth=[0.616, -0.004, 0.549] + !! OVERLAP: chair <-> floor depth=[0.496, -0.004, 0.546] + !! OVERLAP: chair <-> floor depth=[0.471, -0.004, 0.455] + !! OVERLAP: chair <-> floor depth=[0.468, -0.004, 0.479] + !! OVERLAP: chair <-> floor depth=[0.527, -0.004, 0.577] + !! OVERLAP: chair <-> floor depth=[0.436, -0.004, 0.542] +============================================================ + + +============================================================ +SCENE: DiningRoom-13034 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.5747 (Center Penalty: 0.9714, C1 Heatmap: 0.1017, C2 Repulsion: 2.6099), Relational Loss: 0.0208 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.864 0.757 0.229 0.570 -0.020 -0.656 91.18° +chair 0.427 0.771 0.456 1.253 0.004 -0.147 -90.04° +chair 0.316 0.852 0.353 1.152 0.008 -0.863 -89.88° +chair 0.210 0.813 0.159 0.074 0.013 -0.836 89.79° +chair 0.298 0.748 0.419 -0.277 0.001 -0.803 90.29° +lamp 0.442 1.121 0.435 0.760 1.678 -0.677 90.03° +floor 3.148 0.020 3.747 1.105 -0.013 -0.029 2.22° +_scene_ 0.080 0.004 0.033 -5.656 -0.004 -5.694 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> chair depth=[0.008, 0.757, 0.083] + !! OVERLAP: table <-> chair depth=[0.042, 0.753, 0.014] + !! OVERLAP: table <-> floor depth=[0.864, 0.020, 0.229] + !! OVERLAP: chair <-> floor depth=[0.427, 0.020, 0.456] + !! OVERLAP: chair <-> floor depth=[0.316, 0.020, 0.353] + !! OVERLAP: chair <-> floor depth=[0.210, 0.020, 0.159] + !! OVERLAP: chair <-> floor depth=[0.298, 0.020, 0.419] +============================================================ + + +============================================================ +SCENE: DiningRoom-21509 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0857 (Center Penalty: 0.6420, C1 Heatmap: 0.1240, C2 Repulsion: 1.7221), Relational Loss: 0.0213 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.249 0.726 0.245 -1.386 -0.013 0.432 0.16° +chair 0.419 0.930 0.427 -0.689 0.004 0.948 -179.63° +chair 0.422 0.983 0.367 -0.813 0.001 0.135 -89.88° +chair 0.402 0.951 0.357 -1.905 0.005 0.439 89.93° +chair 0.428 1.009 0.435 -1.626 0.000 -0.229 0.06° +lamp 0.546 1.111 0.549 -0.594 1.551 -0.804 -89.56° +cabinet 0.456 1.928 0.354 0.848 0.010 -1.439 0.22° +lamp 0.150 1.037 0.151 -1.492 1.353 0.924 0.04° +floor 3.781 -0.006 3.541 -0.783 0.001 -0.550 -0.01° +_scene_ 0.065 0.002 0.025 -5.672 -0.004 -5.716 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.249, -0.006, 0.245] + !! OVERLAP: chair <-> floor depth=[0.419, -0.006, 0.427] + !! OVERLAP: chair <-> floor depth=[0.422, -0.006, 0.367] + !! OVERLAP: chair <-> floor depth=[0.402, -0.006, 0.357] + !! OVERLAP: chair <-> floor depth=[0.428, -0.006, 0.435] + !! OVERLAP: cabinet <-> floor depth=[0.456, -0.006, 0.354] +============================================================ + + +============================================================ +SCENE: DiningRoom-42541 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1753, Walkable Loss: 1.9423 (Center Penalty: 1.3232, C1 Heatmap: 0.0972, C2 Repulsion: 2.7069), Relational Loss: 0.0212 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 0.542 0.661 0.202 -1.082 0.020 -0.148 -0.05° +chair 0.390 0.901 0.415 -0.537 0.000 0.482 179.94° +chair 0.387 0.854 0.363 -1.227 -0.005 0.364 179.48° +chair 0.366 0.952 0.303 -0.566 0.005 -0.678 0.17° +chair 0.425 0.917 0.394 -1.126 -0.000 -0.605 -0.02° +lamp 0.295 0.801 0.397 -0.800 2.404 0.158 -0.17° +floor 3.085 0.041 1.388 -0.744 -0.013 -0.063 -0.16° +_scene_ 0.061 0.000 0.018 -5.671 -0.005 -5.713 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[0.542, 0.041, 0.202] + !! OVERLAP: chair <-> floor depth=[0.390, 0.041, 0.357] + !! OVERLAP: chair <-> floor depth=[0.387, 0.041, 0.363] + !! OVERLAP: chair <-> floor depth=[0.366, 0.041, 0.231] + !! OVERLAP: chair <-> floor depth=[0.425, 0.041, 0.349] +============================================================ + + +============================================================ +SCENE: DiningRoom-13727 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0220, Walkable Loss: 1.9961 (Center Penalty: 0.9552, C1 Heatmap: 0.3254, C2 Repulsion: 3.9029), Relational Loss: 0.0497 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.200 0.752 0.483 -0.740 -0.003 -0.336 0.80° +chair 0.380 0.754 0.428 0.650 -0.005 0.824 -173.35° +chair 0.519 0.741 0.475 -0.421 0.011 1.009 154.31° +chair 0.364 0.793 0.341 -1.156 -0.003 0.218 95.99° +chair 0.330 0.714 0.363 -0.297 -0.001 -1.116 17.36° +chair 0.476 0.799 0.499 0.693 -0.002 -0.918 -28.18° +chair 0.479 0.764 0.427 1.113 -0.001 -0.121 -83.52° +cabinet 1.675 2.132 0.044 -1.413 -0.003 -0.607 90.28° +floor 4.769 0.029 3.225 -0.819 -0.032 -0.388 0.36° +_scene_ 0.081 0.003 0.039 -5.631 -0.006 -5.663 -57.43° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.200, 0.029, 0.483] + !! OVERLAP: chair <-> floor depth=[0.380, 0.029, 0.428] + !! OVERLAP: chair <-> floor depth=[0.519, 0.029, 0.453] + !! OVERLAP: chair <-> floor depth=[0.364, 0.029, 0.341] + !! OVERLAP: chair <-> floor depth=[0.330, 0.029, 0.363] + !! OVERLAP: chair <-> floor depth=[0.476, 0.029, 0.499] + !! OVERLAP: chair <-> floor depth=[0.479, 0.029, 0.427] + !! OVERLAP: cabinet <-> floor depth=[1.675, 0.029, 0.044] +============================================================ + + +============================================================ +SCENE: Library-4425 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0659, Walkable Loss: 2.2041 (Center Penalty: 1.7368, C1 Heatmap: 0.2305, C2 Repulsion: 1.4148), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.138 0.777 0.342 0.719 -0.004 -0.650 -90.43° +chair 0.429 0.693 0.349 -0.568 -0.012 -0.514 87.48° +bookshelf 0.845 2.039 0.232 -0.801 0.003 1.251 -179.90° +lamp 0.829 1.273 0.905 0.432 1.291 -0.683 -0.64° +floor 2.489 0.000 2.860 -0.022 0.002 -0.057 0.00° +_scene_ 0.068 0.001 0.020 -5.672 -0.005 -5.712 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.073, 0.000, 0.342] + !! OVERLAP: chair <-> floor depth=[0.429, 0.000, 0.349] + !! OVERLAP: bookshelf <-> floor depth=[0.845, 0.000, 0.232] +============================================================ + + +============================================================ +SCENE: Library-4345 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0373, Walkable Loss: 0.8569 (Center Penalty: 0.5011, C1 Heatmap: 0.2275, C2 Repulsion: 0.8688), Relational Loss: 0.0270 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.662 2.298 0.174 0.744 -0.009 1.093 -179.89° +lamp 0.687 1.322 0.250 0.293 0.451 -0.895 89.30° +desk 0.838 2.781 0.866 1.011 0.059 -1.234 172.18° +lamp 0.490 0.165 0.424 0.475 2.367 -0.808 -0.33° +floor 2.634 -0.013 3.614 0.779 0.010 -0.664 -0.42° +_scene_ 0.069 0.004 0.067 -5.668 -0.006 -5.683 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.662, -0.013, 0.136] + !! OVERLAP: lamp <-> desk depth=[0.044, 1.322, 0.218] + !! OVERLAP: lamp <-> floor depth=[0.687, -0.013, 0.250] + !! OVERLAP: desk <-> floor depth=[0.838, -0.013, 0.866] +============================================================ + + +============================================================ +SCENE: Library-16688 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4862 (Center Penalty: 0.8253, C1 Heatmap: 0.3436, C2 Repulsion: 1.9303), Relational Loss: 0.0179 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.843 0.928 0.831 0.739 1.999 -0.437 0.19° +bookshelf 0.553 2.498 0.170 1.863 -0.007 0.360 -89.79° +bookshelf 0.549 2.452 0.312 1.532 0.001 -1.197 -89.88° +bookshelf 0.622 2.319 0.326 1.685 0.001 -0.286 -90.26° +desk 1.301 0.756 0.229 0.556 -0.004 0.628 -179.18° +sofa 1.583 0.789 0.861 -0.277 -0.000 -0.973 -0.22° +floor 3.791 -0.014 2.736 0.618 0.005 -0.614 -0.38° +_scene_ 0.062 -0.001 0.019 -5.664 -0.003 -5.699 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.553, -0.014, 0.170] + !! OVERLAP: bookshelf <-> floor depth=[0.549, -0.014, 0.312] + !! OVERLAP: bookshelf <-> floor depth=[0.622, -0.014, 0.326] + !! OVERLAP: desk <-> floor depth=[1.301, -0.014, 0.229] + !! OVERLAP: sofa <-> floor depth=[1.583, -0.014, 0.861] +============================================================ + + +============================================================ +SCENE: Library-29416 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0820, Walkable Loss: 2.4642 (Center Penalty: 1.7235, C1 Heatmap: 0.2985, C2 Repulsion: 2.5095), Relational Loss: 0.0478 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.102 2.803 -0.229 0.326 0.014 -0.810 -90.02° +bookshelf 1.488 2.629 0.371 0.801 0.026 -0.447 -90.89° +desk 1.370 0.931 0.209 -0.352 0.001 0.928 89.63° +chair 0.512 0.744 0.426 0.544 -0.010 0.909 -90.69° +lamp 0.252 0.686 0.280 -0.672 2.024 0.912 0.00° +floor 2.919 -0.000 3.259 0.004 0.000 0.023 -0.03° +_scene_ 0.076 0.001 0.036 -5.667 -0.004 -5.693 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.102, -0.000, -0.229] + !! OVERLAP: bookshelf <-> floor depth=[1.406, -0.000, 0.371] + !! OVERLAP: desk <-> chair depth=[0.045, 0.744, 0.209] + !! OVERLAP: desk <-> floor depth=[1.370, -0.000, 0.209] + !! OVERLAP: chair <-> floor depth=[0.512, -0.000, 0.426] +============================================================ + + +============================================================ +SCENE: Library-110125 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0053, Walkable Loss: 1.2032 (Center Penalty: 0.8290, C1 Heatmap: 0.2167, C2 Repulsion: 1.0041), Relational Loss: 0.0005 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.244 0.775 0.462 -1.173 0.001 0.646 179.89° +chair 0.529 0.938 0.526 -1.118 -0.005 0.178 -45.63° +bookshelf 1.175 2.171 0.234 -1.210 -0.003 -1.459 0.05° +lamp 0.949 1.201 1.007 0.557 1.562 -0.284 89.80° +chair 0.378 0.589 0.428 0.973 -0.000 -0.285 -90.21° +floor 4.145 0.004 2.996 -0.916 -0.040 -0.386 0.55° +_scene_ 0.067 0.000 0.024 -5.668 -0.005 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.529, 0.775, 0.027] + !! OVERLAP: desk <-> floor depth=[1.244, 0.004, 0.462] + !! OVERLAP: chair <-> floor depth=[0.529, 0.004, 0.526] + !! OVERLAP: bookshelf <-> floor depth=[1.175, 0.004, 0.234] + !! OVERLAP: chair <-> floor depth=[0.373, 0.004, 0.428] +============================================================ + + +============================================================ +SCENE: Library-19478 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1632 (Center Penalty: 0.7711, C1 Heatmap: 0.2401, C2 Repulsion: 1.0000), Relational Loss: 0.0018 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.136 0.873 0.589 0.027 0.010 -0.891 -90.23° +bookshelf 1.724 2.432 0.392 -0.216 0.000 -1.297 0.02° +lamp 0.357 0.952 0.607 -0.654 1.974 -0.702 0.38° +floor 2.232 0.043 2.827 -0.383 -0.005 -0.584 -0.16° +_scene_ 0.085 -0.010 0.130 -5.521 0.013 -5.529 -58.08° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[1.136, 0.873, 0.084] + !! OVERLAP: desk <-> floor depth=[1.136, 0.043, 0.589] + !! OVERLAP: bookshelf <-> floor depth=[1.724, 0.043, 0.392] +============================================================ + + +============================================================ +SCENE: Library-898 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1013, Walkable Loss: 2.3552 (Center Penalty: 1.5690, C1 Heatmap: 0.2584, C2 Repulsion: 2.8970), Relational Loss: 0.0295 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.350 2.417 -0.095 -0.308 0.016 -0.990 90.87° +desk 1.698 1.557 0.112 0.154 0.011 -0.830 -179.72° +chair 0.464 0.757 0.526 0.266 -0.001 -0.835 0.04° +floor 2.741 -0.001 3.284 -0.011 0.001 -0.040 -0.02° +_scene_ 0.051 0.000 0.047 -5.620 0.002 -5.675 -57.52° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.464, 0.757, -0.095] + !! OVERLAP: bookshelf <-> floor depth=[2.248, -0.001, -0.095] + !! OVERLAP: desk <-> chair depth=[0.464, 0.757, 0.112] + !! OVERLAP: desk <-> floor depth=[1.698, -0.001, 0.112] + !! OVERLAP: chair <-> floor depth=[0.464, -0.001, 0.526] +============================================================ + + +============================================================ +SCENE: Library-2159 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0343, Walkable Loss: 1.0523 (Center Penalty: 0.4569, C1 Heatmap: 0.2854, C2 Repulsion: 1.8352), Relational Loss: 0.0488 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.290 2.205 -0.056 0.589 -0.007 -1.384 -91.26° +chair 0.591 0.855 0.592 -0.825 -0.003 -1.809 -13.18° +desk 0.984 0.713 0.333 -0.803 0.002 -0.961 90.51° +sofa 0.759 0.929 0.206 -0.991 0.015 0.103 92.43° +table 0.330 0.458 0.578 -0.675 0.001 1.089 -0.00° +floor 3.078 -0.015 5.022 0.203 -0.003 -0.836 0.48° +_scene_ 0.070 0.001 0.026 -5.670 -0.005 -5.711 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.290, -0.015, -0.056] + !! OVERLAP: chair <-> floor depth=[0.591, -0.015, 0.592] + !! OVERLAP: desk <-> floor depth=[0.984, -0.015, 0.333] + !! OVERLAP: sofa <-> floor depth=[0.725, -0.015, 0.206] + !! OVERLAP: table <-> floor depth=[0.330, -0.015, 0.578] +============================================================ + + +============================================================ +SCENE: Library-7291 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8554 (Center Penalty: 1.1250, C1 Heatmap: 0.5055, C2 Repulsion: 1.6302), Relational Loss: 0.0025 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.450 0.472 0.529 -0.935 -0.001 0.739 0.01° +bookshelf 0.563 1.911 0.231 1.115 0.001 0.824 -90.02° +lamp 0.608 0.668 0.207 -0.407 2.135 0.647 -0.13° +desk 1.854 0.870 0.543 -0.463 0.001 1.053 179.78° +sofa 2.025 0.816 0.868 -0.420 0.006 -1.312 -0.05° +floor 3.311 -0.009 3.591 -0.245 -0.001 -0.403 0.05° +_scene_ 0.063 0.001 0.029 -5.657 -0.004 -5.703 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.450, 0.472, 0.221] + !! OVERLAP: chair <-> floor depth=[0.450, -0.009, 0.529] + !! OVERLAP: bookshelf <-> floor depth=[0.563, -0.009, 0.231] + !! OVERLAP: desk <-> floor depth=[1.854, -0.009, 0.543] + !! OVERLAP: sofa <-> floor depth=[2.025, -0.009, 0.868] +============================================================ + + +============================================================ +SCENE: Library-24727 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4719 (Center Penalty: 1.2905, C1 Heatmap: 0.1980, C2 Repulsion: 0.1154), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.263 2.346 0.316 -1.263 0.008 0.393 89.98° +chair 0.944 0.817 0.924 0.431 -0.002 0.840 -179.84° +lamp 0.438 0.704 0.367 0.766 2.101 0.764 -0.38° +floor 3.799 -0.002 3.011 -0.031 -0.000 0.031 -0.07° +_scene_ 0.046 0.001 0.059 -5.591 -0.003 -5.614 -57.55° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.263, -0.002, 0.316] + !! OVERLAP: chair <-> floor depth=[0.944, -0.002, 0.924] +============================================================ + + +============================================================ +SCENE: Library-43565 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0862, Walkable Loss: 2.3748 (Center Penalty: 2.0202, C1 Heatmap: 0.1932, C2 Repulsion: 0.9997), Relational Loss: 0.0103 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.830 2.312 0.143 -0.525 0.051 0.796 92.40° +bookshelf 0.611 1.961 0.194 0.809 0.002 1.044 -179.97° +chair 0.380 0.791 0.478 -0.309 -0.001 -0.662 89.74° +lamp 0.610 0.305 0.539 0.500 2.222 0.428 0.24° +desk 0.783 1.008 0.243 0.441 0.013 -1.086 -3.07° +floor 2.725 -0.001 2.806 0.009 0.001 -0.023 -0.02° +_scene_ 0.068 0.002 0.009 -5.675 -0.007 -5.706 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.744, -0.001, 0.143] + !! OVERLAP: bookshelf <-> floor depth=[0.611, -0.001, 0.194] + !! OVERLAP: chair <-> floor depth=[0.380, -0.001, 0.478] + !! OVERLAP: desk <-> floor depth=[0.783, -0.001, 0.243] +============================================================ + + +============================================================ +SCENE: Library-24675 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8239 (Center Penalty: 0.7016, C1 Heatmap: 0.0676, C2 Repulsion: 0.3407), Relational Loss: 0.0236 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.829 1.163 0.216 0.120 1.649 -1.056 -0.96° +chair 0.325 0.938 0.408 -0.826 -0.001 0.060 89.92° +desk 0.919 0.693 0.315 0.779 -0.016 -0.616 -89.68° +bookshelf 0.092 2.569 -0.073 -1.007 0.037 0.386 92.39° +floor 2.896 -0.023 2.944 0.395 0.023 -0.981 0.37° +_scene_ 0.044 0.005 0.025 -5.521 -0.004 -5.605 -58.10° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.325, -0.023, 0.408] + !! OVERLAP: desk <-> floor depth=[0.919, -0.023, 0.315] + !! OVERLAP: bookshelf <-> floor depth=[0.092, -0.023, -0.073] +============================================================ + + +============================================================ +SCENE: Library-11256 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0008, Walkable Loss: 2.2070 (Center Penalty: 1.3433, C1 Heatmap: 0.3827, C2 Repulsion: 2.7876), Relational Loss: 0.0082 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.309 2.691 0.358 1.270 0.027 -0.556 -88.37° +bookshelf 1.480 2.349 0.220 1.156 0.048 0.539 -89.71° +desk 1.220 0.889 0.357 -0.600 -0.001 1.162 179.92° +chair 0.429 0.938 0.420 0.491 0.001 1.165 -90.18° +chair 0.548 0.953 0.606 -1.430 -0.003 -1.233 29.44° +chair 0.371 0.441 0.337 -1.638 0.004 -0.313 79.80° +table 0.524 0.631 0.554 -0.437 0.001 -1.184 0.04° +lamp 0.264 0.493 0.267 -0.332 2.194 0.880 -0.13° +floor 3.789 -0.002 3.635 0.029 0.000 0.050 -0.04° +_scene_ 0.071 0.001 0.022 -5.672 -0.005 -5.710 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.308, -0.002, 0.358] + !! OVERLAP: bookshelf <-> floor depth=[1.480, -0.002, 0.220] + !! OVERLAP: desk <-> floor depth=[1.220, -0.002, 0.357] + !! OVERLAP: chair <-> floor depth=[0.429, -0.002, 0.420] + !! OVERLAP: chair <-> floor depth=[0.548, -0.002, 0.606] + !! OVERLAP: chair <-> floor depth=[0.371, -0.002, 0.337] + !! OVERLAP: table <-> floor depth=[0.524, -0.002, 0.554] +============================================================ + + +============================================================ +SCENE: Library-70308 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.8492 (Center Penalty: 1.9083, C1 Heatmap: 0.3022, C2 Repulsion: 3.4955), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.226 0.762 0.453 -0.492 0.011 0.756 179.96° +chair 0.657 0.950 0.559 -0.678 0.006 0.634 24.52° +bookshelf 0.930 2.210 0.318 0.959 0.001 0.487 -90.08° +lamp 0.899 1.320 0.891 -0.373 1.481 0.525 -0.02° +floor 2.882 -0.003 3.246 -0.015 0.001 -0.019 -0.01° +_scene_ 0.016 0.008 0.011 -5.604 -0.006 -5.688 -57.46° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.657, 0.762, 0.383] + !! OVERLAP: desk <-> floor depth=[1.226, -0.003, 0.453] + !! OVERLAP: chair <-> floor depth=[0.657, -0.003, 0.559] + !! OVERLAP: bookshelf <-> floor depth=[0.930, -0.003, 0.318] +============================================================ + + +============================================================ +SCENE: Library-57472 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1383, Walkable Loss: 1.1582 (Center Penalty: 0.7538, C1 Heatmap: 0.2177, C2 Repulsion: 1.1514), Relational Loss: 0.0028 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.022 0.771 0.444 -0.433 0.000 1.291 -179.93° +bookshelf 0.424 1.705 0.230 1.144 0.003 0.937 179.82° +chair 0.434 0.679 0.348 -0.716 -0.003 0.655 0.04° +bookshelf 1.721 1.955 0.213 -1.101 0.006 -0.372 0.25° +lamp 1.250 0.994 0.590 -0.727 2.104 -0.066 0.09° +floor 3.489 -0.022 2.520 -0.333 0.013 0.909 -0.44° +_scene_ 0.068 -0.001 0.027 -5.672 -0.003 -5.713 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.022, -0.022, 0.444] + !! OVERLAP: bookshelf <-> floor depth=[0.424, -0.022, 0.230] + !! OVERLAP: chair <-> floor depth=[0.434, -0.022, 0.348] + !! OVERLAP: bookshelf <-> floor depth=[1.721, -0.022, 0.085] +============================================================ + + +============================================================ +SCENE: Library-32231 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0123, Walkable Loss: 1.3752 (Center Penalty: 0.6553, C1 Heatmap: 0.0814, C2 Repulsion: 3.2740), Relational Loss: 0.0117 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.499 0.864 0.073 -0.504 0.000 -0.981 -89.56° +bookshelf 0.266 2.704 0.131 -0.214 -0.091 -0.836 177.80° +cabinet 1.265 1.374 0.085 -0.197 -0.013 -1.209 91.75° +lamp 0.455 0.653 0.269 0.015 2.177 -0.980 0.15° +chair 0.312 0.875 0.320 0.397 0.006 -1.488 -20.38° +floor 1.985 -0.022 4.008 0.175 -0.009 -0.980 0.04° +_scene_ 0.065 0.000 0.026 -5.672 -0.004 -5.716 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.499, -0.022, 0.073] + !! OVERLAP: bookshelf <-> floor depth=[0.266, -0.022, 0.131] + !! OVERLAP: cabinet <-> floor depth=[1.252, -0.022, 0.085] + !! OVERLAP: chair <-> floor depth=[0.312, -0.022, 0.320] +============================================================ + + +============================================================ +SCENE: Library-2480 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.6980 (Center Penalty: 0.3559, C1 Heatmap: 0.2393, C2 Repulsion: 0.7533), Relational Loss: 0.0100 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.232 0.843 0.539 -0.570 -0.000 -0.805 89.25° +bookshelf 1.166 2.134 -0.766 1.217 0.038 -0.040 -177.45° +desk 1.597 0.752 0.964 0.992 -0.006 -0.510 -90.29° +floor 2.863 -0.026 3.788 0.629 -0.028 -0.936 -0.37° +_scene_ 0.101 0.005 0.073 -5.649 -0.005 -5.685 -57.25° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.232, -0.026, 0.539] + !! OVERLAP: bookshelf <-> floor depth=[1.166, -0.026, -0.766] + !! OVERLAP: desk <-> floor depth=[1.597, -0.026, 0.964] +============================================================ + + +============================================================ +SCENE: Library-23898 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.2699 (Center Penalty: 1.0715, C1 Heatmap: 0.2088, C2 Repulsion: 0.1572), Relational Loss: 0.0189 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +table 1.282 0.729 0.553 -0.607 -0.002 -0.395 -0.08° +lamp 0.707 0.780 0.099 0.231 1.869 0.737 -0.15° +bookshelf 0.338 2.120 0.211 1.151 -0.002 -0.595 -0.09° +chair 0.471 0.918 0.509 -0.284 0.006 1.071 164.62° +bookshelf 0.695 1.939 0.295 1.242 -0.006 1.594 -90.28° +bookshelf 0.500 2.057 0.316 1.302 0.001 0.410 -90.07° +floor 3.230 -0.011 3.160 0.051 -0.015 0.803 -0.19° +_scene_ 0.049 0.003 0.014 -5.676 -0.006 -5.715 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: table <-> floor depth=[1.282, -0.011, 0.553] + !! OVERLAP: bookshelf <-> floor depth=[0.338, -0.011, 0.211] + !! OVERLAP: chair <-> floor depth=[0.471, -0.011, 0.509] + !! OVERLAP: bookshelf <-> floor depth=[0.695, -0.011, 0.295] + !! OVERLAP: bookshelf <-> floor depth=[0.500, -0.011, 0.316] +============================================================ + + +============================================================ +SCENE: Library-19283 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0402 (Center Penalty: 0.5929, C1 Heatmap: 0.1380, C2 Repulsion: 1.6845), Relational Loss: 0.0044 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.393 2.518 0.070 0.519 -0.004 -0.889 -91.27° +desk 1.214 0.928 0.247 -0.540 -0.023 -0.829 90.09° +chair 0.231 0.821 0.322 0.149 0.002 -0.930 -87.65° +floor 2.610 0.027 3.308 0.081 -0.002 -0.949 -0.38° +_scene_ 0.104 0.050 0.109 -5.138 -0.009 -5.432 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> desk depth=[0.245, 0.928, 0.070] + !! OVERLAP: bookshelf <-> chair depth=[0.231, 0.821, 0.070] + !! OVERLAP: bookshelf <-> floor depth=[1.393, 0.027, 0.070] + !! OVERLAP: desk <-> chair depth=[0.033, 0.821, 0.184] + !! OVERLAP: desk <-> floor depth=[1.214, 0.027, 0.247] + !! OVERLAP: chair <-> floor depth=[0.231, 0.027, 0.322] +============================================================ + + +============================================================ +SCENE: Library-29744 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9520 (Center Penalty: 0.4496, C1 Heatmap: 0.1322, C2 Repulsion: 1.9836), Relational Loss: 0.0070 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.750 2.334 0.158 -0.830 0.056 -0.735 88.43° +bookshelf 1.376 2.233 -0.136 0.826 -0.015 -1.070 -90.67° +desk 1.286 0.749 0.084 0.380 0.002 -1.241 -0.16° +chair 0.311 0.742 0.356 -0.777 0.002 -0.205 -179.88° +floor 2.793 -0.035 3.332 0.158 0.027 -1.320 -0.07° +_scene_ 0.060 -0.001 0.023 -5.663 -0.004 -5.710 -57.32° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.750, -0.035, 0.158] + !! OVERLAP: bookshelf <-> floor depth=[1.376, -0.035, -0.136] + !! OVERLAP: desk <-> floor depth=[1.286, -0.035, 0.084] + !! OVERLAP: chair <-> floor depth=[0.311, -0.035, 0.356] +============================================================ + + +============================================================ +SCENE: Library-22443 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0651, Walkable Loss: 1.5384 (Center Penalty: 1.0951, C1 Heatmap: 0.1646, C2 Repulsion: 1.5579), Relational Loss: 0.0115 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.642 2.110 0.179 -1.016 0.015 -0.044 90.11° +bookshelf 0.615 2.080 0.111 -1.029 -0.004 -0.837 89.79° +desk 1.360 0.703 0.448 0.320 -0.005 -0.798 -90.03° +chair 0.348 0.862 0.439 -0.290 -0.004 -0.774 89.91° +lamp 0.522 0.362 0.638 -0.087 2.555 -0.897 -0.23° +floor 2.969 -0.014 4.341 0.180 -0.002 -0.801 0.00° +_scene_ 0.063 -0.001 0.020 -5.675 -0.005 -5.710 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.609, -0.014, 0.179] + !! OVERLAP: bookshelf <-> floor depth=[0.583, -0.014, 0.111] + !! OVERLAP: desk <-> chair depth=[0.244, 0.703, 0.420] + !! OVERLAP: desk <-> floor depth=[1.360, -0.014, 0.448] + !! OVERLAP: chair <-> floor depth=[0.348, -0.014, 0.439] +============================================================ + + +============================================================ +SCENE: Library-1093 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.2113, Walkable Loss: 0.9133 (Center Penalty: 0.5042, C1 Heatmap: 0.1837, C2 Repulsion: 1.3107), Relational Loss: 0.0143 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.919 2.156 0.172 -1.163 -0.001 0.620 180.00° +bookshelf 0.796 2.034 0.286 -1.268 0.000 -0.843 89.93° +bookshelf 0.558 2.009 0.411 0.994 0.003 -0.559 -90.22° +chair 0.577 0.819 0.621 -0.924 -0.003 -0.832 89.70° +lamp 0.543 0.373 0.597 0.719 2.420 -0.623 -89.23° +chair 0.434 0.573 0.477 0.077 -0.002 -1.095 90.05° +floor 3.058 0.029 3.305 -0.393 -0.005 -1.022 -0.39° +_scene_ 0.066 -0.002 0.023 -5.662 -0.005 -5.709 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.919, 0.029, 0.097] + !! OVERLAP: bookshelf <-> chair depth=[0.342, 0.819, 0.286] + !! OVERLAP: bookshelf <-> floor depth=[0.796, 0.029, 0.286] + !! OVERLAP: bookshelf <-> floor depth=[0.422, 0.029, 0.411] + !! OVERLAP: chair <-> floor depth=[0.577, 0.029, 0.621] + !! OVERLAP: chair <-> floor depth=[0.434, 0.029, 0.477] +============================================================ + + +============================================================ +SCENE: Library-13832 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0627, Walkable Loss: 2.0186 (Center Penalty: 1.6361, C1 Heatmap: 0.1923, C2 Repulsion: 1.1428), Relational Loss: 0.0086 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 0.505 1.753 0.212 -1.040 0.035 -0.532 90.37° +desk 1.587 0.782 0.683 0.088 -0.000 -0.385 -90.34° +chair 0.006 0.751 0.427 -0.489 -0.004 -0.956 88.95° +lamp 0.952 1.129 0.633 0.227 1.508 -0.645 -0.04° +floor 2.296 -0.007 2.682 -0.082 0.000 -0.722 -0.01° +_scene_ 0.062 -0.001 0.014 -5.666 -0.003 -5.710 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[0.443, -0.007, 0.212] + !! OVERLAP: desk <-> floor depth=[1.587, -0.007, 0.683] + !! OVERLAP: chair <-> floor depth=[0.006, -0.007, 0.427] +============================================================ + + +============================================================ +SCENE: Library-16869 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.2312 (Center Penalty: 1.5905, C1 Heatmap: 0.3050, C2 Repulsion: 1.9830), Relational Loss: 0.0389 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.389 0.788 0.322 0.759 -0.002 0.191 0.04° +desk 1.312 1.116 0.492 0.662 0.007 1.081 179.85° +chair 0.345 0.679 0.327 -0.885 0.001 0.198 0.06° +bookshelf 0.877 1.276 0.213 0.328 -0.000 -1.420 0.02° +bookshelf 0.614 1.022 0.254 -0.895 0.002 -1.337 0.04° +desk 1.331 1.153 0.457 -0.422 0.003 1.133 -179.97° +floor 2.740 -0.001 3.106 0.062 -0.004 -0.035 0.08° +_scene_ 0.071 0.000 0.022 -5.671 -0.004 -5.714 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.389, -0.001, 0.322] + !! OVERLAP: desk <-> desk depth=[0.238, 1.116, 0.422] + !! OVERLAP: desk <-> floor depth=[1.312, -0.001, 0.492] + !! OVERLAP: chair <-> floor depth=[0.345, -0.001, 0.327] + !! OVERLAP: bookshelf <-> floor depth=[0.877, -0.001, 0.213] + !! OVERLAP: bookshelf <-> floor depth=[0.614, -0.001, 0.254] + !! OVERLAP: desk <-> floor depth=[1.331, -0.001, 0.457] +============================================================ + + +============================================================ +SCENE: Library-29737 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0222, Walkable Loss: 1.3734 (Center Penalty: 0.9274, C1 Heatmap: 0.3522, C2 Repulsion: 0.8212), Relational Loss: 0.0001 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.269 0.953 0.426 0.992 0.033 -0.054 -166.45° +desk 2.104 0.803 0.678 -0.176 -0.000 -1.126 -0.18° +lamp 0.714 0.652 0.171 -0.960 1.900 -0.150 -0.10° +bookshelf 1.621 2.334 0.120 -0.385 -0.003 0.537 -179.57° +floor 3.004 -0.011 3.111 0.016 -0.010 -0.981 0.08° +_scene_ 0.050 -0.002 0.027 -5.655 -0.004 -5.693 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.269, -0.011, 0.426] + !! OVERLAP: desk <-> floor depth=[2.104, -0.011, 0.678] + !! OVERLAP: bookshelf <-> floor depth=[1.621, -0.011, 0.098] +============================================================ + + +============================================================ +SCENE: Library-13751 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.3403 (Center Penalty: 1.7991, C1 Heatmap: 0.3556, C2 Repulsion: 1.2836), Relational Loss: 0.0180 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.572 0.331 0.411 0.116 2.564 0.835 -0.37° +bookshelf 1.430 1.890 0.280 0.114 -0.000 -1.255 -0.07° +desk 1.780 0.679 0.823 -0.164 0.011 0.802 -179.80° +chair 0.575 0.873 0.510 0.640 0.027 -0.523 -12.33° +floor 2.696 -0.002 2.872 -0.010 0.000 -0.005 0.00° +_scene_ 0.050 0.007 0.023 -5.616 -0.008 -5.670 -57.39° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.430, -0.002, 0.280] + !! OVERLAP: desk <-> floor depth=[1.780, -0.002, 0.823] + !! OVERLAP: chair <-> floor depth=[0.575, -0.002, 0.510] +============================================================ + + +============================================================ +SCENE: Library-11820 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0052, Walkable Loss: 2.1361 (Center Penalty: 1.6104, C1 Heatmap: 0.3898, C2 Repulsion: 1.0693), Relational Loss: 0.0114 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.435 0.283 0.265 -0.506 2.343 0.406 -0.28° +chair 0.495 0.881 0.457 0.975 0.009 -0.843 -107.61° +desk 1.526 0.750 0.512 0.266 -0.004 -0.984 0.02° +bookshelf 2.268 1.798 0.436 0.023 0.002 1.309 179.95° +floor 2.511 -0.000 2.910 0.051 0.001 0.067 -0.05° +_scene_ 0.084 0.002 0.041 -5.658 -0.004 -5.700 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.302, 0.750, 0.344] + !! OVERLAP: chair <-> floor depth=[0.495, -0.000, 0.457] + !! OVERLAP: desk <-> floor depth=[1.526, -0.000, 0.512] + !! OVERLAP: bookshelf <-> floor depth=[2.268, -0.000, 0.431] +============================================================ + + +============================================================ +SCENE: Library-45741 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.6611 (Center Penalty: 2.1369, C1 Heatmap: 0.2649, C2 Repulsion: 1.5616), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.797 0.920 0.603 -0.403 0.030 0.647 89.77° +chair 0.433 0.743 0.579 0.804 -0.000 -0.195 -90.01° +bookshelf 0.866 2.039 0.295 0.950 -0.001 0.433 -89.96° +lamp 0.507 0.463 0.454 -0.351 2.179 0.517 -0.07° +floor 2.808 0.000 3.288 0.001 0.001 -0.017 -0.03° +_scene_ 0.056 0.004 0.032 -5.643 -0.004 -5.696 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.797, 0.000, 0.603] + !! OVERLAP: chair <-> floor depth=[0.433, 0.000, 0.579] + !! OVERLAP: bookshelf <-> floor depth=[0.866, 0.000, 0.295] +============================================================ + + +============================================================ +SCENE: Library-4659 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0548 (Center Penalty: 0.7721, C1 Heatmap: 0.2638, C2 Repulsion: 0.3583), Relational Loss: 0.0045 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 2.229 0.881 0.483 0.307 -0.001 -1.079 -0.22° +chair 0.450 1.027 0.568 0.827 0.006 0.260 -179.67° +lamp 0.529 0.643 0.854 -0.286 2.119 -0.686 -0.13° +floor 2.455 0.052 3.340 0.231 0.007 -0.969 -0.64° +_scene_ 0.057 0.129 0.236 -4.796 0.137 -4.694 -63.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[2.229, 0.052, 0.483] + !! OVERLAP: chair <-> floor depth=[0.450, 0.052, 0.568] +============================================================ + + +============================================================ +SCENE: Library-1808 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0812, Walkable Loss: 2.7115 (Center Penalty: 2.1309, C1 Heatmap: 0.2449, C2 Repulsion: 1.9234), Relational Loss: 0.0371 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.755 2.477 0.202 0.706 0.019 -0.332 -90.09° +bookshelf 1.951 2.567 -0.491 0.552 -0.027 0.848 -92.69° +desk 1.376 0.842 0.322 -0.546 -0.008 0.636 90.03° +chair -0.085 1.009 0.543 -1.165 0.003 0.048 -90.21° +lamp 0.442 0.586 0.490 -0.617 2.154 0.289 -0.19° +floor 3.024 -0.002 3.145 0.003 0.001 -0.002 -0.04° +_scene_ 0.081 -0.000 0.027 -5.660 -0.003 -5.701 -57.24° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.686, -0.002, 0.202] + !! OVERLAP: bookshelf <-> floor depth=[1.939, -0.002, -0.491] + !! OVERLAP: desk <-> floor depth=[1.376, -0.002, 0.322] + !! OVERLAP: chair <-> floor depth=[-0.085, -0.002, 0.543] +============================================================ + + +============================================================ +SCENE: Library-457 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9619 (Center Penalty: 0.6409, C1 Heatmap: 0.2003, C2 Repulsion: 0.8037), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.592 2.454 0.223 0.916 0.020 -0.189 -90.81° +lamp 0.469 1.082 0.739 -1.105 1.418 -0.295 -0.85° +table 1.040 0.657 0.239 -0.331 0.002 -0.991 0.23° +floor 3.200 0.001 3.119 0.244 0.001 -0.758 -0.12° +_scene_ 0.106 0.011 0.142 -5.493 -0.003 -5.620 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.592, 0.001, 0.223] + !! OVERLAP: table <-> floor depth=[1.040, 0.001, 0.239] +============================================================ + + +============================================================ +SCENE: Library-123545 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0065, Walkable Loss: 1.4990 (Center Penalty: 1.0877, C1 Heatmap: 0.0627, C2 Repulsion: 1.8058), Relational Loss: 0.0241 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.258 0.741 0.523 0.840 0.019 0.356 -89.66° +chair 0.058 0.872 0.371 -0.741 -0.009 0.628 90.28° +bookshelf 1.829 2.359 -1.129 -1.283 0.100 0.410 87.54° +bookshelf 1.659 2.186 -0.624 -1.366 0.198 0.022 88.62° +bookshelf 2.097 2.644 -0.643 -1.112 0.061 0.086 92.21° +lamp 0.874 0.866 0.395 0.378 1.945 0.692 -90.11° +floor 3.206 0.008 3.128 -0.640 0.015 -0.389 -0.07° +_scene_ 0.071 0.002 0.073 -5.634 -0.001 -5.646 -57.39° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.252, 0.008, 0.523] + !! OVERLAP: chair <-> floor depth=[0.058, 0.008, 0.371] + !! OVERLAP: bookshelf <-> floor depth=[1.829, 0.008, -1.129] + !! OVERLAP: bookshelf <-> floor depth=[1.659, 0.008, -0.624] + !! OVERLAP: bookshelf <-> floor depth=[2.097, 0.008, -0.643] +============================================================ + + +============================================================ +SCENE: Library-71638 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1488, Walkable Loss: 1.2164 (Center Penalty: 0.9417, C1 Heatmap: 0.2183, C2 Repulsion: 0.5003), Relational Loss: 0.0018 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.156 0.799 0.391 -0.259 0.003 1.297 -179.97° +bookshelf 0.415 1.733 0.315 1.341 0.002 0.849 -90.07° +chair 0.324 0.771 0.328 -0.730 -0.005 0.518 0.05° +bookshelf 1.641 1.916 0.245 -0.489 -0.004 -0.650 0.15° +lamp 1.047 1.047 0.676 -0.648 1.792 0.555 0.63° +floor 3.201 0.000 2.994 0.171 -0.009 0.873 0.89° +_scene_ 0.062 0.004 0.034 -5.671 -0.003 -5.704 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.156, 0.000, 0.391] + !! OVERLAP: bookshelf <-> floor depth=[0.415, 0.000, 0.315] + !! OVERLAP: chair <-> floor depth=[0.324, 0.000, 0.328] + !! OVERLAP: bookshelf <-> floor depth=[1.641, 0.000, 0.096] +============================================================ + + +============================================================ +SCENE: Library-90753 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1353 (Center Penalty: 0.8877, C1 Heatmap: 0.1076, C2 Repulsion: 0.8074), Relational Loss: 0.0046 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.087 0.958 0.633 0.927 0.015 -0.037 89.43° +desk 0.129 0.612 0.573 0.859 0.025 -0.573 -89.66° +bookshelf 1.392 2.489 0.042 -0.718 -0.056 -0.954 90.34° +lamp 0.485 1.153 0.265 0.348 1.357 -0.966 -0.17° +floor 2.425 -0.002 3.228 -0.209 -0.006 -0.633 -0.17° +_scene_ 0.064 -0.000 0.036 -5.642 -0.002 -5.677 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> desk depth=[0.040, 0.612, 0.067] + !! OVERLAP: chair <-> floor depth=[0.087, -0.002, 0.633] + !! OVERLAP: desk <-> floor depth=[0.129, -0.002, 0.573] + !! OVERLAP: bookshelf <-> floor depth=[1.392, -0.002, 0.042] +============================================================ + + +============================================================ +SCENE: Library-8543 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0653, Walkable Loss: 1.1947 (Center Penalty: 1.0094, C1 Heatmap: 0.1358, C2 Repulsion: 0.3834), Relational Loss: 0.0140 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.323 0.920 0.351 -0.175 -0.025 -0.863 -91.50° +chair 0.336 1.014 0.473 -0.717 0.002 -0.410 0.48° +bookshelf 1.499 2.278 0.283 1.192 0.003 -0.396 -90.13° +lamp 0.363 0.828 0.377 0.714 1.730 0.174 0.01° +floor 2.880 -0.035 2.646 0.436 -0.023 -0.853 -0.01° +_scene_ 0.066 0.003 0.025 -5.656 -0.003 -5.687 -57.34° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.323, -0.035, 0.351] + !! OVERLAP: chair <-> floor depth=[0.336, -0.035, 0.473] + !! OVERLAP: bookshelf <-> floor depth=[1.433, -0.035, 0.283] +============================================================ + + +============================================================ +SCENE: Library-28947 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1333 (Center Penalty: 0.7820, C1 Heatmap: 0.1892, C2 Repulsion: 1.0000), Relational Loss: 0.0075 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.767 1.399 0.475 -0.279 -0.001 -1.157 0.11° +chair 0.407 0.751 0.519 -0.633 -0.004 -0.720 -179.85° +lamp 0.249 0.596 0.412 -0.311 1.899 -0.677 -84.24° +floor 2.161 0.027 2.864 -0.419 -0.000 -0.741 -0.35° +_scene_ 0.013 0.252 0.008 -2.873 1.442 -2.840 -75.41° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.407, 0.751, 0.059] + !! OVERLAP: desk <-> floor depth=[1.767, 0.027, 0.475] + !! OVERLAP: chair <-> floor depth=[0.407, 0.027, 0.519] +============================================================ + + +============================================================ +SCENE: Library-163346 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0526, Walkable Loss: 1.0717 (Center Penalty: 0.9071, C1 Heatmap: 0.1313, C2 Repulsion: 0.2977), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.885 0.656 0.352 0.127 -0.002 -0.810 -90.17° +bookshelf 1.168 2.226 0.411 -0.959 0.004 -0.465 89.97° +lamp 0.668 0.537 0.637 0.044 2.372 -0.919 0.17° +floor 2.264 0.002 3.109 -0.358 -0.001 -0.619 0.24° +_scene_ 0.062 0.115 0.029 -4.819 -0.001 -4.969 -58.81° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.885, 0.002, 0.352] + !! OVERLAP: bookshelf <-> floor depth=[1.115, 0.002, 0.411] +============================================================ + + +============================================================ +SCENE: Library-32140 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0045, Walkable Loss: 1.2362 (Center Penalty: 0.9261, C1 Heatmap: 0.1396, C2 Repulsion: 0.9919), Relational Loss: 0.0151 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.354 1.404 0.550 -0.236 -0.001 -1.144 0.07° +chair 0.371 0.868 0.401 -0.700 0.001 -0.591 179.79° +lamp 0.355 0.339 0.307 -0.411 2.296 0.300 -0.18° +floor 2.644 0.005 3.755 0.414 -0.011 -1.051 1.33° +_scene_ 0.089 -0.005 0.079 -5.586 0.014 -5.616 -57.26° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.350, 0.005, 0.550] + !! OVERLAP: chair <-> floor depth=[0.371, 0.005, 0.401] +============================================================ + + +============================================================ +SCENE: Library-19891 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1030, Walkable Loss: 1.2217 (Center Penalty: 0.5060, C1 Heatmap: 0.2289, C2 Repulsion: 2.6626), Relational Loss: 0.0307 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.027 2.516 -0.189 0.493 -0.007 1.519 179.27° +desk 0.806 0.658 0.189 1.187 0.032 0.774 -1.45° +chair 0.388 0.974 0.401 1.201 0.001 0.441 -179.91° +chair 0.335 1.006 0.550 -0.423 0.009 -1.332 52.05° +chair 0.465 0.998 0.536 1.147 0.002 -1.204 0.06° +table 0.511 0.584 0.486 0.246 0.000 -1.297 -0.01° +lamp 0.426 0.662 0.398 0.269 1.931 -0.704 -0.03° +floor 3.383 -0.023 3.161 1.152 -0.001 -0.113 0.54° +_scene_ 0.066 0.002 0.021 -5.665 -0.005 -5.713 -57.16° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.806, -0.023, 0.189] + !! OVERLAP: chair <-> floor depth=[0.388, -0.023, 0.401] + !! OVERLAP: chair <-> floor depth=[0.284, -0.023, 0.550] + !! OVERLAP: chair <-> floor depth=[0.465, -0.023, 0.536] + !! OVERLAP: table <-> floor depth=[0.511, -0.023, 0.486] +============================================================ + + +============================================================ +SCENE: Library-7168 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0711, Walkable Loss: 1.3090 (Center Penalty: 0.7456, C1 Heatmap: 0.2556, C2 Repulsion: 1.7944), Relational Loss: 0.0047 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.539 0.771 0.565 -0.026 0.000 -0.883 89.80° +bookshelf 1.120 2.647 0.270 -0.629 -0.001 -0.979 0.12° +bookshelf 0.261 2.482 0.099 0.782 -0.008 -0.886 -91.01° +bookshelf 1.164 2.068 0.093 -0.575 0.020 0.565 -178.87° +floor 2.425 0.007 3.681 -0.371 0.015 -0.929 0.12° +_scene_ 0.075 0.229 0.279 -2.819 -0.004 -3.032 -81.43° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> bookshelf depth=[0.727, 0.771, 0.270] + !! OVERLAP: desk <-> bookshelf depth=[0.092, 0.771, 0.099] + !! OVERLAP: desk <-> floor depth=[1.539, 0.007, 0.565] + !! OVERLAP: bookshelf <-> floor depth=[1.120, 0.007, 0.270] + !! OVERLAP: bookshelf <-> floor depth=[0.190, 0.007, 0.099] + !! OVERLAP: bookshelf <-> floor depth=[1.164, 0.007, 0.093] +============================================================ + + +============================================================ +SCENE: Library-17832 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.0713 (Center Penalty: 0.6085, C1 Heatmap: 0.1198, C2 Repulsion: 1.8353), Relational Loss: 0.0404 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.147 0.643 0.355 1.357 -0.028 -0.261 -3.97° +chair 0.395 0.880 0.424 0.848 0.003 -0.647 89.61° +wardrobe 0.465 2.428 -0.053 0.809 0.000 -0.076 -179.44° +wardrobe 0.242 2.352 0.459 -1.194 -0.021 -0.672 89.39° +wardrobe 0.756 2.182 0.270 1.701 -0.003 -0.659 -90.11° +wardrobe 0.677 2.006 0.335 1.982 0.000 0.416 -90.33° +lamp 0.458 0.186 0.484 0.759 2.689 -0.520 0.06° +floor 4.307 -0.083 3.961 0.744 0.017 -1.362 2.34° +_scene_ 0.050 0.001 0.030 -5.668 -0.003 -5.704 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.147, -0.083, 0.355] + !! OVERLAP: chair <-> floor depth=[0.395, -0.083, 0.424] + !! OVERLAP: wardrobe <-> floor depth=[0.465, -0.083, -0.053] + !! OVERLAP: wardrobe <-> floor depth=[0.242, -0.083, 0.459] + !! OVERLAP: wardrobe <-> floor depth=[0.756, -0.083, 0.270] + !! OVERLAP: wardrobe <-> floor depth=[0.677, -0.083, 0.335] +============================================================ + + +============================================================ +SCENE: Library-25138 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1268 (Center Penalty: 0.9194, C1 Heatmap: 0.0400, C2 Repulsion: 0.8770), Relational Loss: 0.0054 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +chair 0.246 0.775 0.166 -0.622 -0.007 -0.183 -179.32° +chair 0.372 0.853 0.639 -0.708 0.005 -0.596 0.08° +lamp 0.413 0.709 0.523 1.285 2.291 -0.467 -179.87° +lamp 0.177 0.843 0.360 -0.094 1.748 -1.067 -0.27° +floor 3.244 0.006 3.964 0.562 0.000 -0.729 -0.03° +_scene_ 0.070 0.000 0.034 -5.653 -0.004 -5.687 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: chair <-> floor depth=[0.246, 0.006, 0.166] + !! OVERLAP: chair <-> floor depth=[0.372, 0.006, 0.639] +============================================================ + + +============================================================ +SCENE: Library-36052 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.3363 (Center Penalty: 0.8747, C1 Heatmap: 0.0611, C2 Repulsion: 2.0638), Relational Loss: 0.0126 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.392 2.602 -0.692 -1.035 -0.004 -0.318 -87.77° +bookshelf 1.233 2.531 -0.354 -0.698 -0.026 0.108 -91.09° +bookshelf 1.151 2.440 -0.393 -1.278 -0.028 0.046 -89.20° +bookshelf 1.565 2.656 -0.397 -0.768 0.055 -0.340 -89.92° +desk 0.031 0.782 0.821 -1.363 -0.019 -1.201 87.35° +floor 2.029 0.044 3.469 -0.954 0.015 -0.348 -0.20° +_scene_ 0.240 0.301 1.933 -3.546 -0.043 -2.718 -81.91° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.392, 0.044, -0.692] + !! OVERLAP: bookshelf <-> floor depth=[1.233, 0.044, -0.354] + !! OVERLAP: bookshelf <-> floor depth=[1.151, 0.044, -0.393] + !! OVERLAP: bookshelf <-> floor depth=[1.565, 0.044, -0.397] + !! OVERLAP: desk <-> floor depth=[0.031, 0.044, 0.821] +============================================================ + + +============================================================ +SCENE: Library-40642 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.8915 (Center Penalty: 1.3330, C1 Heatmap: 0.3457, C2 Repulsion: 1.4098), Relational Loss: 0.0006 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.393 0.737 0.595 -0.082 0.004 -1.199 -0.01° +chair 0.522 0.859 0.532 -0.310 0.006 -1.176 -154.97° +bookshelf 0.833 1.989 0.421 0.790 -0.000 0.908 -90.06° +lamp 0.902 1.227 1.014 -0.581 1.456 0.739 -0.16° +floor 2.435 0.000 3.738 -0.000 0.001 -0.011 -0.02° +_scene_ 0.065 0.001 0.021 -5.652 -0.004 -5.700 -57.29° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.522, 0.737, 0.532] + !! OVERLAP: desk <-> floor depth=[1.393, 0.000, 0.595] + !! OVERLAP: chair <-> floor depth=[0.522, 0.000, 0.532] + !! OVERLAP: bookshelf <-> floor depth=[0.833, 0.000, 0.421] +============================================================ + + +============================================================ +SCENE: Library-58697 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9653 (Center Penalty: 0.6296, C1 Heatmap: 0.2631, C2 Repulsion: 0.6258), Relational Loss: 0.0142 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.672 0.730 0.681 -0.579 0.004 -0.665 0.14° +bookshelf 0.883 2.511 0.334 -0.936 0.003 1.394 179.94° +bookshelf 0.477 2.266 0.271 0.647 -0.004 1.347 -179.54° +bookshelf 0.383 2.217 0.261 -0.115 0.005 1.188 179.78° +lamp 1.024 0.153 0.919 -0.861 2.546 -0.177 -0.12° +floor 3.947 0.035 2.971 -0.988 -0.016 0.187 0.03° +_scene_ 0.028 -0.006 0.010 -5.635 -0.002 -5.674 -57.36° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.672, 0.035, 0.681] + !! OVERLAP: bookshelf <-> floor depth=[0.883, 0.035, 0.334] + !! OVERLAP: bookshelf <-> floor depth=[0.477, 0.035, 0.271] + !! OVERLAP: bookshelf <-> floor depth=[0.383, 0.035, 0.261] +============================================================ + + +============================================================ +SCENE: Library-145994 | 10 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 2.5158 (Center Penalty: 1.0259, C1 Heatmap: 0.3412, C2 Repulsion: 6.0852), Relational Loss: 0.0352 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.292 2.170 -0.505 -1.527 0.065 0.144 90.19° +bookshelf 1.600 2.102 0.096 -0.913 -0.002 0.922 179.98° +bookshelf 1.259 2.076 0.017 -1.853 0.006 0.282 90.01° +bookshelf 1.438 2.054 -0.287 -1.766 0.022 0.100 90.99° +bookshelf 1.202 2.054 0.178 0.403 0.003 -1.008 0.34° +bookshelf 1.501 2.094 0.178 0.241 -0.001 -1.572 0.27° +desk 1.483 2.643 -0.169 -0.704 -0.015 0.691 177.25° +lamp 0.630 0.384 0.448 0.328 2.278 0.535 -0.36° +floor 3.855 -0.000 3.197 -0.741 0.023 -0.292 0.08° +_scene_ -0.043 0.305 0.979 -2.926 0.793 -2.043 -83.82° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.292, -0.000, -0.505] + !! OVERLAP: bookshelf <-> floor depth=[1.600, -0.000, 0.096] + !! OVERLAP: bookshelf <-> floor depth=[1.259, -0.000, 0.017] + !! OVERLAP: bookshelf <-> floor depth=[1.438, -0.000, -0.287] + !! OVERLAP: bookshelf <-> floor depth=[1.202, -0.000, 0.178] + !! OVERLAP: bookshelf <-> floor depth=[1.501, -0.000, 0.178] + !! OVERLAP: desk <-> floor depth=[1.483, -0.000, -0.169] +============================================================ + + +============================================================ +SCENE: Library-39529 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1194, Walkable Loss: 1.3854 (Center Penalty: 0.9625, C1 Heatmap: 0.2266, C2 Repulsion: 1.2079), Relational Loss: 0.0005 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.358 2.487 0.325 1.001 0.034 -0.810 -91.62° +desk 1.229 1.066 0.509 -0.571 0.005 -0.653 90.18° +chair 0.522 0.795 0.529 0.755 0.004 -0.576 -89.78° +lamp 0.370 0.571 0.221 -0.556 1.995 -0.528 0.25° +floor 3.330 -0.016 3.626 -0.104 -0.019 -0.849 -0.05° +_scene_ 0.064 -0.002 0.042 -5.649 -0.004 -5.689 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> chair depth=[0.522, 0.795, 0.193] + !! OVERLAP: bookshelf <-> floor depth=[1.239, -0.016, 0.325] + !! OVERLAP: desk <-> floor depth=[1.229, -0.016, 0.509] + !! OVERLAP: chair <-> floor depth=[0.522, -0.016, 0.529] +============================================================ + + +============================================================ +SCENE: Library-56351 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1161, Walkable Loss: 1.7920 (Center Penalty: 1.1204, C1 Heatmap: 0.1677, C2 Repulsion: 2.6866), Relational Loss: 0.0165 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 2.286 2.954 -0.231 -0.750 -0.037 0.058 -178.49° +bookshelf 2.032 2.400 -0.646 -0.738 0.016 0.577 179.61° +desk 1.572 0.724 -0.326 -0.771 0.023 0.292 -178.31° +chair 0.282 0.823 0.347 -0.788 0.000 -0.973 0.48° +floor 3.095 -0.004 3.251 -0.229 -0.000 -0.714 0.31° +_scene_ 0.067 0.001 0.057 -5.671 -0.004 -5.698 -57.27° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[2.170, -0.004, -0.231] + !! OVERLAP: bookshelf <-> floor depth=[2.032, -0.004, -0.646] + !! OVERLAP: desk <-> floor depth=[1.572, -0.004, -0.326] + !! OVERLAP: chair <-> floor depth=[0.282, -0.004, 0.347] +============================================================ + + +============================================================ +SCENE: Library-5406 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.1669, Walkable Loss: 1.8031 (Center Penalty: 1.1345, C1 Heatmap: 0.2170, C2 Repulsion: 2.4753), Relational Loss: 0.0185 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.327 0.819 0.738 -0.201 0.006 -0.926 0.08° +bookshelf 0.425 2.048 0.184 0.450 -0.007 0.863 179.76° +bookshelf 0.742 2.075 -0.061 0.011 0.008 0.870 179.91° +chair 0.227 0.795 0.234 -0.817 -0.005 -0.754 -0.09° +bookshelf 0.661 2.102 0.312 -1.709 -0.000 -1.040 89.97° +bookshelf 0.530 2.092 0.090 -0.778 0.003 0.938 -179.89° +lamp 0.269 0.075 0.396 0.167 2.438 -0.738 -0.17° +floor 2.915 -0.011 2.870 -0.829 -0.015 -0.532 -0.12° +_scene_ 0.040 0.047 0.170 -5.494 -0.014 -5.576 -59.54° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.160, 0.795, 0.234] + !! OVERLAP: desk <-> floor depth=[1.327, -0.011, 0.738] + !! OVERLAP: bookshelf <-> bookshelf depth=[0.145, 2.047, -0.061] + !! OVERLAP: bookshelf <-> floor depth=[0.391, -0.011, 0.132] + !! OVERLAP: bookshelf <-> floor depth=[0.742, -0.011, -0.061] + !! OVERLAP: chair <-> floor depth=[0.227, -0.011, 0.234] + !! OVERLAP: bookshelf <-> floor depth=[0.661, -0.011, 0.312] + !! OVERLAP: bookshelf <-> floor depth=[0.530, -0.011, 0.009] +============================================================ + + +============================================================ +SCENE: Library-51220 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0265, Walkable Loss: 1.9299 (Center Penalty: 1.4011, C1 Heatmap: 0.1514, C2 Repulsion: 2.0384), Relational Loss: 0.0016 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.033 0.724 0.810 0.149 0.010 -0.762 -90.24° +chair 0.273 0.806 0.508 -0.337 0.002 -0.762 89.79° +bookshelf 0.394 1.840 0.286 0.534 0.007 -0.595 -90.47° +lamp 0.555 0.450 0.574 -0.484 2.236 -0.431 0.04° +floor 2.772 0.019 2.252 -0.681 -0.002 -0.714 0.50° +_scene_ 0.068 -0.001 0.031 -5.647 -0.003 -5.693 -57.28° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> chair depth=[0.166, 0.724, 0.508] + !! OVERLAP: desk <-> bookshelf depth=[0.329, 0.724, 0.286] + !! OVERLAP: desk <-> floor depth=[1.033, 0.019, 0.810] + !! OVERLAP: chair <-> floor depth=[0.273, 0.019, 0.508] + !! OVERLAP: bookshelf <-> floor depth=[0.368, 0.019, 0.286] +============================================================ + + +============================================================ +SCENE: Library-5781 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.1842 (Center Penalty: 0.9827, C1 Heatmap: 0.1928, C2 Repulsion: 0.2362), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.979 0.779 0.345 -0.687 -0.006 0.449 179.71° +chair 0.372 0.933 0.301 -0.700 -0.008 -0.560 17.22° +bookshelf 1.734 2.483 0.259 0.056 -0.004 -1.606 0.08° +lamp 0.976 0.755 0.838 -0.873 1.988 -0.106 0.21° +floor 2.895 0.007 3.047 -0.245 0.012 -0.732 0.47° +_scene_ 0.031 0.001 0.019 -5.644 -0.004 -5.698 -57.33° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.979, 0.007, 0.345] + !! OVERLAP: chair <-> floor depth=[0.372, 0.007, 0.301] + !! OVERLAP: bookshelf <-> floor depth=[1.734, 0.007, 0.259] +============================================================ + + +============================================================ +SCENE: Library-123334 | 7 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0213, Walkable Loss: 1.5772 (Center Penalty: 0.9912, C1 Heatmap: 0.2253, C2 Repulsion: 2.0287), Relational Loss: 0.0350 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 1.205 0.754 0.261 -0.521 -0.001 -0.769 -0.13° +chair 0.432 0.860 0.090 -0.904 0.015 -0.440 -101.93° +bookshelf 1.310 2.595 -0.211 -0.774 -0.023 0.664 179.11° +bookshelf 1.843 2.425 0.198 -0.412 -0.007 1.042 -179.41° +lamp 0.491 0.961 0.597 -0.228 1.932 -0.929 -0.00° +floor 2.820 -0.001 3.711 -0.195 0.015 -0.735 0.38° +_scene_ 0.072 0.001 0.037 -5.671 -0.006 -5.709 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.205, -0.001, 0.261] + !! OVERLAP: chair <-> floor depth=[0.432, -0.001, 0.090] + !! OVERLAP: bookshelf <-> floor depth=[1.310, -0.001, -0.211] + !! OVERLAP: bookshelf <-> floor depth=[1.843, -0.001, 0.177] +============================================================ + + +============================================================ +SCENE: Library-1511 | 5 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.9179 (Center Penalty: 0.7385, C1 Heatmap: 0.0802, C2 Repulsion: 0.5765), Relational Loss: 0.0000 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +desk 0.828 1.245 0.447 0.463 0.017 -0.848 -90.15° +chair 0.392 0.826 0.481 1.119 0.000 -0.225 89.29° +lamp 0.354 0.257 0.415 -0.451 2.353 -0.445 -0.09° +floor 3.020 0.078 3.230 -0.168 -0.016 -1.167 0.32° +_scene_ 0.066 0.005 0.042 -5.647 -0.005 -5.654 -57.40° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[0.828, 0.078, 0.447] + !! OVERLAP: chair <-> floor depth=[0.392, 0.078, 0.481] +============================================================ + + +============================================================ +SCENE: Library-74566 | 6 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 0.8425 (Center Penalty: 0.6783, C1 Heatmap: 0.0235, C2 Repulsion: 0.7268), Relational Loss: 0.0093 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +wardrobe 1.046 2.042 -0.196 0.819 0.036 -0.510 89.01° +desk 0.754 0.617 -0.113 0.654 0.028 -1.035 -0.22° +chair 0.007 1.026 -0.099 0.623 -0.020 -0.801 90.14° +lamp 0.268 0.313 0.466 0.757 2.399 -0.300 0.39° +floor 2.488 0.007 2.738 1.089 -0.028 0.270 -0.02° +_scene_ 0.064 0.002 0.022 -5.669 -0.004 -5.715 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: wardrobe <-> floor depth=[1.046, 0.007, -0.196] + !! OVERLAP: desk <-> floor depth=[0.754, 0.007, -0.113] + !! OVERLAP: chair <-> floor depth=[0.007, 0.007, -0.099] +============================================================ + + +============================================================ +SCENE: Library-35695 | 9 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0000, Walkable Loss: 1.4979 (Center Penalty: 0.8181, C1 Heatmap: 0.3810, C2 Repulsion: 1.8753), Relational Loss: 0.0242 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +bookshelf 1.331 2.699 0.260 0.668 0.001 -1.591 0.03° +bookshelf 1.974 2.483 0.284 -1.026 -0.003 -1.411 0.00° +desk 0.897 0.733 0.396 0.745 -0.011 0.407 179.57° +chair 0.311 1.007 0.536 0.549 -0.005 -0.516 0.07° +table 0.325 0.912 0.058 1.139 0.038 -0.990 -91.01° +chair 0.685 0.896 0.712 -1.354 0.004 0.723 166.59° +lamp 0.285 0.850 0.171 -0.804 2.021 0.716 -0.22° +floor 4.547 -0.001 3.138 -0.900 0.008 -0.428 0.30° +_scene_ 0.069 0.001 0.023 -5.670 -0.004 -5.711 -57.30° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: bookshelf <-> floor depth=[1.331, -0.001, 0.260] + !! OVERLAP: bookshelf <-> floor depth=[1.974, -0.001, 0.284] + !! OVERLAP: desk <-> floor depth=[0.897, -0.001, 0.396] + !! OVERLAP: chair <-> floor depth=[0.311, -0.001, 0.536] + !! OVERLAP: table <-> floor depth=[0.325, -0.001, 0.058] + !! OVERLAP: chair <-> floor depth=[0.685, -0.001, 0.712] +============================================================ + + +============================================================ +SCENE: Library-934 | 8 objects +============================================================ +Final Step Collision Loss: 0.0000, Room Outer Loss: 0.0334, Walkable Loss: 2.4049 (Center Penalty: 1.7342, C1 Heatmap: 0.5028, C2 Repulsion: 1.3422), Relational Loss: 0.0212 +Guided Steps: 500/1000 +---------------------------------------------------------------------- +Obj l h w x y z angle +---------------------------------------------------------------------- +lamp 0.482 0.767 0.511 -0.322 2.080 -0.379 -0.02° +desk 1.352 0.773 0.522 -0.371 0.005 -1.275 -0.03° +bookshelf 2.740 1.539 0.374 0.528 0.008 1.274 179.99° +chair 0.451 0.938 0.464 -1.205 0.004 -0.173 128.71° +chair 0.567 1.025 0.658 1.211 0.000 -0.856 -89.89° +table 0.442 0.725 0.475 1.528 0.002 0.187 -179.83° +floor 3.836 -0.000 2.998 -0.012 0.000 -0.004 -0.00° +_scene_ 0.067 0.000 0.020 -5.670 -0.005 -5.715 -57.31° + + Pairwise overlap check (axis-aligned bbox): + !! OVERLAP: desk <-> floor depth=[1.352, -0.000, 0.488] + !! OVERLAP: bookshelf <-> floor depth=[2.740, -0.000, 0.374] + !! OVERLAP: chair <-> floor depth=[0.451, -0.000, 0.464] + !! OVERLAP: chair <-> floor depth=[0.567, -0.000, 0.658] + !! OVERLAP: table <-> floor depth=[0.442, -0.000, 0.475] +============================================================ + diff --git a/current_works/work_39/extracted/2050/echoscene/Bedroom-11202_echoscene.glb b/current_works/work_39/extracted/2050/echoscene/Bedroom-11202_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..4ac54cad48aec61ff27534a6dba742b40c659d1a --- /dev/null +++ b/current_works/work_39/extracted/2050/echoscene/Bedroom-11202_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4ee9a800a25eb53cd16335e7b833b5978943b8760d8ab8fcbcb04d9f80a5af3 +size 1439348 diff --git a/current_works/work_39/extracted/2050/echoscene/Bedroom-12864_echoscene.glb b/current_works/work_39/extracted/2050/echoscene/Bedroom-12864_echoscene.glb new file mode 100644 index 0000000000000000000000000000000000000000..08152565034a1ecbd8e4f5d883dc18a2aaf276e6 --- /dev/null +++ b/current_works/work_39/extracted/2050/echoscene/Bedroom-12864_echoscene.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7bb9478504b6c0db5bc4bdece93490b796a885dde9bc68f0613f20eb69922b0 +size 3114328