The Unity simulator has 5 office-like scenes.
Each scene consists of or two hallways with several rooms connected to the the hallway. Types of rooms include an office, cubical space, a restroom, a break room, and a storage room.
The target fruit includes an apple, a banana, a strawberry, an orange, and a cherry.
Fruit are randomly spawned throughout the environment. However, their distribution is non-uniform. Fruit are spawned in offices and cubical spaces. Sometimes they spawn in a hallway just outside of an office. They don't spawn in other rooms (e.g., restroom, breakroom).
There are 11 semantic categories for objects as follows.
- 0: floor (0,171,143)
- 1: ceiling (1,155,211)
- 2: wall (2,222,110)
- 3: monitor (3,69,227)
- 4: door (4,218,221)
- 5: table (5,81,38)
- 6: chair (6,229,176)
- 7: storage (7,106,60)
- 8: couch (8,179,10)
- 9: clutter (9,118,90)
- 10: target fruit (10,138,80)
The values in parentheses correspond to (red-green-blue) RGB values when semantic segmentation is displayed in videos or directly obtained from the simulator as a 3-channel image (instead of a single channel).
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This material is based upon work supported by the Under Secretary of Defense for Research and Engineering under Air Force Contract No. FA8702-15-D-0001. Any opinions, findings, conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the Under Secretary of Defense for Research and Engineering.
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