HM3D-OVON

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Simulation benchmark for finding objects named by free-form text, across 379 categories in 3D-scanned homes.1

Sources
Last checked 10 Oct 2026Basic entry14 of 21 facts checked at the sourceNext check 8 Apr 2027
Runs in
Simulation2
Checked against real robots
Not checked
Skill
Navigation
Robot
Wheels only2
Used by
1153
citations

Comparisons with real robots

No comparison found Unknown

Details

Paper reports no real-robot experiments; it uses actuation/sensor noise models only. No follow-up measuring sim-vs-real on OVON found.

Details

About

What it is
Benchmark Inferred1
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Classified by the Atlas from how the authors describe and distribute it.

Built by
Georgia Tech (author emails @gatech.edu) and Meta (Abhishek Das 'is with Meta')2
Released
2024-09 (arXiv v1 2024-09-22)1
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Repo created 2022-11-09 (GitHub API), before the paper.

Version
arXiv v1 (no later versions)1
Last update
Repo last commit 2025-05-15 ('updated submodule commit to use reset_metric patch'); HF episodes last modified 2024-09-294
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Commit date via GitHub API; HF date via https://huggingface.co/datasets/nyokoyama/hm3d_ovon

Status
Maintained Inferred4
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Last commit 2025-05; no newer releases.

Setup

Runs in
Simulation2
Robot
Wheels only2
Setting
Whole home, Mixed2
Size
379 categories (280 train / 178 eval); 15k+ instances; 181 scenes (145 train / 36 val); '50k' episodes per train scene and '3k' per val scene2
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The arXiv HTML renders these as '50 k k' and '3 k k' (math-mode duplication); read as 50k and 3k.

Scoring and access

Scored by
Success rate, Path efficiency2
Leaderboard
Unknown
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Checked project page, repo README, EvalAI challenge list (2026-10-10).

Code licence
Unknown
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Without a licence file, reuse terms are unstated.

Data licence
Episodes: MIT (HF dataset card 'license: mit'); scenes: HM3D under Matterport academic-use EULA5
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HM3D terms: https://github.com/matterport/habitat-matterport-3dresearch

Sources 5

  1. 1HM3D-OVON: A Dataset and Benchmark for Open-Vocabulary Object Goal NavigationPaper · Sep 2024 · checked 10 Oct 2026
  2. 2HM3D-OVON: A Dataset and Benchmark for Open-Vocabulary Object Goal Navigation (full text)Paper · Sep 2024 · checked 10 Oct 2026
  3. 3Semantic Scholar API recordIndex · checked 10 Oct 2026
  4. 4naokiyokoyama/ovon on GitHub (repository)Repository · checked 10 Oct 2026
  5. 5nyokoyama/hm3d_ovon on Hugging Face (dataset)Repository · checked 10 Oct 2026

Change history

  1. Created as a basic entry: identity facts checked at primary sources (phase 1 re-verification).