---
license: apache-2.0
task_categories:
- visual-question-answering
language:
- en
tags:
- Spatial Reasoning
size_categories:
- n<1K
---


# 6-DoF SpatialBench

Paper_link: https://arxiv.org/abs/2502.13143
<br>
Project Page: https://qizekun.github.io/sofar/
<br>
Github Code: https://github.com/qizekun/SoFar

Previous spatial perception LLMs mainly focused on operations of positional relationships, such as left-right, near-far, size, and counting, etc. 
In actual object manipulation, the orientation of the object is also a very important factor. 
Therefore, we proposed a new 6-DoF spatial perception benchmark dataset for evaluating the model's reasoning capabilities in position, orientation, and position-orientation relationships. 
We evaluated existing spatial perception models on this benchmark dataset.

The evaluation baseline is SoFar, a 6-DoF system for spatial reasoning and robotic manipulation.

Download the [images.zip](https://huggingface.co/datasets/qizekun/6DoF-SpatialBench/blob/main/images.zip) and extract it to `./datasets/6dof_spatialbench/`.
The overall directory structure should be:
```
│SoFar/datasets/6dof_spatialbench/
├── spatial_data.json
└── images/
    ├── 0.png
    └── ...
```
| Data file name                                                                               |     Size |
|----------------------------------------------------------------------------------------------|---------:|
| [images.zip](https://huggingface.co/datasets/qizekun/6DoF-SpatialBench/blob/main/images.zip) | 531.7 MB |
| [spatial_data.json](./6dof_spatialbench/spatial_data.json)                                   |   0.8 KB |