README.md

metadata

license: cc-by-4.0
task_categories:
  - visual-question-answering
  - image-to-text
language:
  - en
tags:
  - spatial-reasoning
  - 3d-scenes
  - vision-language
  - benchmark
size_categories:
  - 10K<n<100K

Theory of Space： Visual Scene Dataset

This dataset provides pre-rendered 3D multi-room environments for evaluating spatial reasoning in Vision Language Models (VLMs). It is designed to support the Theory of Space (ToS) benchmark, which tests whether foundation models can actively construct spatial beliefs through exploration.

Paper: Theory of Space: Can foundation models construct spatial beliefs through active perception?
Project Page: https://theory-of-space.github.io
GitHub Repository: https://github.com/williamzhangNU/Theory-of-Space

Dataset Overview

Property	Value
Rooms	3
Total Runs	100
Objects per Room	4
Includes False-Belief Data	Yes

Usage

Download via Hugging Face CLI:

huggingface-cli download MLL-Lab/tos-data --repo-type dataset --local-dir room_data

Or use the ToS setup script which downloads automatically:

git clone https://github.com/williamzhangNU/Theory-of-Space.git
cd Theory-of-Space
source setup.sh

Refer to the GitHub repository for evaluation instructions.

File Structure

tos-data/
└── runXX/                              # 100 runs (run00 - run99)
    ├── meta_data.json                  # Scene metadata (layout, objects, positions)
    ├── falsebelief_exp.json            # False-belief experiment data
    ├── top_down.png                    # Top-down view of the scene
    ├── top_down_annotated.png          # Annotated top-down view
    ├── top_down_fbexp.png              # Top-down view (false-belief state)
    ├── agent_facing_*.png              # Agent perspective images (north/south/east/west)
    ├── <object_id>_facing_*.png        # Object/door camera views
    ├── *_fbexp.png                     # False-belief experiment images
    └── top_down/
        └── img_0000.png                # Additional top-down renders

File Descriptions

File	Description
meta_data.json	Complete scene metadata including room layout, object positions, orientations, and connectivity
falsebelief_exp.json	Specifies object modifications (move/rotate) for belief update evaluation
agent_facing_*.png	Egocentric views from agent's perspective in 4 cardinal directions
<object_id>_facing_*.png	Views from each object/door position
*_fbexp.png	Images rendered after false-belief modifications
top_down*.png	Bird's-eye view for visualization and debugging