---
license: other
license_name: matterport3d-terms-of-use
license_link: https://kaldir.vc.in.tum.de/matterport/MP_TOS.pdf
task_categories:
  - robotics
tags:
  - embodied-ai
  - vision-language-navigation
  - habitat-sim
  - matterport3d
pretty_name: REVERIE-CE (EASI)
size_categories:
  - 1K<n<10K
---

# REVERIE-CE (EASI)

Pre-converted REVERIE benchmark episodes for continuous environments (Habitat-Sim), formatted for the [EASI](https://github.com/oscarqjh/EASI) evaluation framework.

## Source

Episodes are derived from [Dynam3D](https://huggingface.co/datasets/MrZihanWang/Dynam3D)'s pre-converted REVERIE-CE data, which converts the original [REVERIE](https://github.com/YuankaiQi/REVERIE) discrete navigation graph episodes into continuous Habitat-Sim environments using Matterport3D scenes.

**Navigation-only**: This dataset evaluates navigation to the described location. Object grounding is not included.

## Dataset Structure

```
data/
├── val_unseen.jsonl       # 3,189 episodes (unseen environments, 26 scenes)
└── test.jsonl             # 6,292 episodes
mp3d_scenes.zip            # Matterport3D .glb scene files (26 scenes, 1.5 GB)
```

## Episode Format (JSONL)

Each line is a JSON object:

```json
{
  "episode_id": "1",
  "scene_id": "zsNo4HB9uLZ",
  "instruction": "Enter the dining room and pick up the objects on the table",
  "start_position": [1.395, 0.299, -4.876],
  "start_rotation": [0.0, 0.367, 0.0, 0.930],
  "goal_position": [14.052, 0.312, -1.990],
  "geodesic_distance": 13.37,
  "gt_locations": [[1.395, 0.299, -4.876], ..., [14.052, 0.312, -1.990]]
}
```

| Field | Description |
|---|---|
| `episode_id` | Unique episode identifier |
| `scene_id` | Matterport3D scan name |
| `instruction` | High-level natural language instruction (REVERIE style) |
| `start_position` | Agent start position in Habitat coordinates `[x, y, z]` |
| `start_rotation` | Start rotation quaternion `[x, y, z, w]` |
| `goal_position` | Target position (navigation goal) |
| `geodesic_distance` | Shortest walkable path distance from start to goal (meters) |
| `gt_locations` | Ground truth waypoints from start to goal |

## Matterport3D Scenes

`mp3d_scenes.zip` contains `.glb` scene files for Habitat-Sim. These are the same Matterport3D scenes used by VLN-CE R2R. After extraction:

```
mp3d/
├── {scan_id}/
│   └── {scan_id}.glb
├── ...
```

**Note**: Matterport3D scenes require agreeing to the [Matterport3D Terms of Use](https://kaldir.vc.in.tum.de/matterport/MP_TOS.pdf).

## Metrics

| Metric | Description |
|---|---|
| SR (Success Rate) | 1.0 if agent stops within 3m of goal |
| SPL | Success weighted by path efficiency |
| NE (Navigation Error) | Geodesic distance to goal at stop |
| Oracle SR | Best geodesic distance achieved during episode |
| NDTW | Normalized Dynamic Time Warping |
| SDTW | Success-weighted DTW |

## Usage with EASI

```bash
easi task download reverie_ce_val_unseen
easi start reverie_ce_val_unseen --agent react --backend openai --model gpt-4o
```

## References

- [REVERIE](https://github.com/YuankaiQi/REVERIE) — Original discrete REVERIE benchmark (Qi et al., CVPR 2020)
- [Dynam3D](https://github.com/MrZihan/Dynam3D) — Discrete-to-CE conversion (Wang et al., NeurIPS 2025)
- [VLN-CE](https://github.com/jacobkrantz/VLN-CE) — Vision-Language Navigation in Continuous Environments (Krantz et al., 2020)

## License

Episode data follows the licenses of the original REVERIE and Dynam3D datasets. Matterport3D scenes are subject to the [Matterport3D Terms of Use](https://kaldir.vc.in.tum.de/matterport/MP_TOS.pdf).