HAZARD Challenge: Embodied Decision Making in Dynamically Changing Environments
Paper • 2401.12975 • Published
id int64 | episode_id string | task string | instruction string | scene_name string | agent_position list | target_categories list | target_object_ids list | hazard_params string | containers list | objects string | max_steps int64 | source_dir string |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 | mm_craftroom_2a-1 | fire | Rescue the following objects from the fire: bowl, key, lighter, pen. | mm_craftroom_2a | [
-1.25,
0,
-2
] | [
"pen",
"bowl",
"lighter",
"key"
] | [
16728828,
16381463,
10511794,
14640280,
6999109,
474390,
6798686,
10844722,
473176,
14544403,
16013534
] | {"fire_positions": [[-1.25, 0.0, 0.75], [-0.75, 0.0, 1.0], [-1.25, 0.0, 1.5]]} | [] | [{"id": 14134319, "name": "floating_counter_top_counter_top", "category": "cabinet", "position": {"x": 2.0536563732147215, "y": 0, "z": -2.6672916748046873}}, {"id": 6510053, "name": "pot_composite", "category": "pot", "position": {"x": 1.9102683212627172, "y": 0.9613115, "z": -2.795482986288903}}, {"id": 13749788, "na... | 1,500 | room_setup_fire/mm_craftroom_2a-1 |
1 | mm_craftroom_2a-10 | fire | Rescue the following objects from the fire: bag, handbag, pocketbook, purse, banana, hairbrush, ipod. | mm_craftroom_2a | [
1.5,
0,
2.75
] | [
"ipod",
"hairbrush",
"banana",
"bag, handbag, pocketbook, purse"
] | [
16559636,
3135549,
4114846,
1564134,
12930175,
16687323
] | {"fire_positions": [[1.0, 0.0, 1.75], [-1.25, 0.0, 2.25]]} | [] | [{"id": 11802756, "name": "floating_counter_top_counter_top", "category": "cabinet", "position": {"x": 2.0536563732147215, "y": 0, "z": -2.6672916748046873}}, {"id": 16559636, "name": "banana_fix2", "category": "banana", "position": {"x": 1.909888726446677, "y": 0.9613115, "z": -2.7958069804659096}}, {"id": 13714688, "... | 1,500 | room_setup_fire/mm_craftroom_2a-10 |
2 | mm_craftroom_2a-11 | fire | Rescue the following objects from the fire: backpack, bag, handbag, pocketbook, purse, banana, hairbrush. | mm_craftroom_2a | [
1.25,
0,
1.5
] | [
"banana",
"backpack",
"hairbrush",
"bag, handbag, pocketbook, purse"
] | [
14638418,
8109402,
16213876,
3406455,
7504533,
16640361,
15147960,
4746515
] | {"fire_positions": [[-1.0, 0.0, 1.25], [-0.25, 0.0, 1.5], [0.0, 0.0, 1.75]]} | [] | [{"id": 14167971, "name": "cabinet_36_two_door_wood_beech_honey_composite", "category": "cabinet", "position": {"x": 2.0351988232147216, "y": 0, "z": -2.5149441748046875}}, {"id": 9620586, "name": "b05_whirlpool_microwave_wmc30516as_v-ray", "category": "microwave, microwave oven", "position": {"x": 2.0351988232147216, ... | 1,500 | room_setup_fire/mm_craftroom_2a-11 |
3 | mm_craftroom_2a-12 | fire | Rescue the following objects from the fire: bag, handbag, pocketbook, purse, banana, key, plate. | mm_craftroom_2a | [
-1.75,
0,
2.25
] | [
"bag, handbag, pocketbook, purse",
"plate",
"key",
"banana"
] | [
2091776,
10355353,
12751528,
9820157,
6985249,
16550318,
678060,
2327719,
13645441,
15297581,
14668989,
1055094
] | {"fire_positions": [[-1.5, 0.0, 1.75], [-1.5, 0.0, 1.25]]} | [] | [{"id": 3444118, "name": "floating_counter_top_counter_top", "category": "cabinet", "position": {"x": 2.0536563732147215, "y": 0, "z": -2.6672916748046873}}, {"id": 14806238, "name": "pan04", "category": "pan", "position": {"x": 1.9097923799730088, "y": 0.9613115, "z": -2.7957866825010496}}, {"id": 10621797, "name": "s... | 1,500 | room_setup_fire/mm_craftroom_2a-12 |
4 | mm_craftroom_2a-13 | fire | Rescue the following objects from the fire: bag, handbag, pocketbook, purse, bowl, key, pen. | mm_craftroom_2a | [
0.75,
0,
1.75
] | [
"bag, handbag, pocketbook, purse",
"bowl",
"pen",
"key"
] | [
15545413,
6260940,
9221427,
14852699,
5614448,
14828224,
15251063,
11358747,
10020861,
6237102,
12410767,
4171069,
15392248
] | {"fire_positions": [[0.25, 0.0, -2.0]]} | [] | [{"id": 10686742, "name": "cabinet_24_single_door_wood_beech_honey_composite", "category": "cabinet", "position": {"x": 2.0362598732147217, "y": 0, "z": -2.6667969248046877}}, {"id": 4668104, "name": "b05_bathroom_dispenser", "category": "soap dispenser", "position": {"x": 1.8931056953131136, "y": 0.92220306, "z": -2.7... | 1,500 | room_setup_fire/mm_craftroom_2a-13 |
5 | mm_craftroom_2a-14 | fire | Rescue the following objects from the fire: bowl, hairbrush, plate. | mm_craftroom_2a | [
-1,
0,
1.5
] | [
"hairbrush",
"bowl",
"plate"
] | [
9205355,
14549507,
16256564,
10123237,
5137399,
13288987,
9869365,
7126255,
13226424,
10546804,
10977124
] | {"fire_positions": [[-0.75, 0.0, -0.25], [-1.25, 0.0, 0.25]]} | [] | [{"id": 6071480, "name": "floating_counter_top_counter_top", "category": "cabinet", "position": {"x": 2.0536563732147215, "y": 0, "z": -2.6672916748046873}}, {"id": 9205355, "name": "plate07", "category": "plate", "position": {"x": 1.910081718862826, "y": 0.9613115, "z": -2.7958613322819623}}, {"id": 15156497, "name": ... | 1,500 | room_setup_fire/mm_craftroom_2a-14 |
6 | mm_craftroom_2a-15 | fire | Rescue the following objects from the fire: banana, bottle, bowl, pen. | mm_craftroom_2a | [
-1.25,
0,
0
] | [
"bottle",
"banana",
"pen",
"bowl"
] | [
9645262,
15664915,
6005230,
16092740,
3894595,
11276741,
11131910,
11180683
] | {"fire_positions": [[-0.5, 0.0, 0.5], [-0.75, 0.0, 0.5]]} | [] | [{"id": 556943, "name": "cabinet_24_two_door_wood_beech_honey_composite", "category": "cabinet", "position": {"x": 2.0355882732147217, "y": 0, "z": 2.649910217303467}}, {"id": 206011, "name": "apple", "category": "apple", "position": {"x": 1.8908889670053888, "y": 0.92240173, "z": 2.4960456164635745}}, {"id": 11163248,... | 1,500 | room_setup_fire/mm_craftroom_2a-15 |
7 | mm_craftroom_2a-16 | fire | Rescue the following objects from the fire: bowl, chocolate candy, pen. | mm_craftroom_2a | [
0.25,
0,
-1.75
] | [
"chocolate candy",
"bowl",
"pen"
] | [
16529433,
8703968,
8894696,
13624891,
8585192,
1794929,
6002503,
1604793,
14987335,
6747106,
6439514,
7826606,
823055,
10461909,
7166623,
10836459
] | {"fire_positions": [[1.25, 0.0, 0.0], [1.0, 0.0, -1.25], [0.75, 0.0, 1.25]]} | [] | [{"id": 10620593, "name": "cabinet_24_two_door_wood_beech_honey_composite", "category": "cabinet", "position": {"x": 2.0355882732147217, "y": 0, "z": -2.6662833748046877}}, {"id": 5559339, "name": "jug05", "category": "jug", "position": {"x": 1.8915590245584553, "y": 0.92240173, "z": -2.8201694170640295}}, {"id": 15661... | 1,500 | room_setup_fire/mm_craftroom_2a-16 |
8 | mm_craftroom_2a-17 | fire | Rescue the following objects from the fire: apple, bag, handbag, pocketbook, purse, hairbrush, plate. | mm_craftroom_2a | [
-1.5,
0,
2.25
] | [
"bag, handbag, pocketbook, purse",
"apple",
"hairbrush",
"plate"
] | [
5915746,
8466822,
15399970,
13571452,
14576713,
11054695,
2714386,
1888235,
15082455,
12007963,
3569709
] | {"fire_positions": [[-1.0, 0.0, -0.5], [-1.25, 0.0, 1.0], [0.75, 0.0, -1.25]]} | [] | [{"id": 8611346, "name": "cabinet_24_single_door_wood_beech_honey_composite", "category": "cabinet", "position": {"x": 2.0362598732147217, "y": 0, "z": -2.6667969248046877}}, {"id": 5496702, "name": "jug03", "category": "jug", "position": {"x": 1.8927896076464654, "y": 0.92220306, "z": -2.8191558652540785}}, {"id": 104... | 1,500 | room_setup_fire/mm_craftroom_2a-17 |
9 | mm_craftroom_2a-18 | fire | Rescue the following objects from the fire: bag, handbag, pocketbook, purse, banana, ipod. | mm_craftroom_2a | [
0.25,
0,
2
] | [
"bag, handbag, pocketbook, purse",
"ipod",
"banana"
] | [
2475633,
14639925,
15217522,
11728428,
15971235,
8220141,
879327
] | {"fire_positions": [[-1.25, 0.0, 0.0]]} | [] | [{"id": 3172959, "name": "cabinet_24_two_door_wood_oak_white_composite", "category": "cabinet", "position": {"x": 2.0355882732147217, "y": 0, "z": -2.6662833748046877}}, {"id": 12945995, "name": "b05_coffee_grinder", "category": "coffee grinder", "position": {"x": 1.891343505360833, "y": 0.92240173, "z": -2.82021806696... | 1,500 | room_setup_fire/mm_craftroom_2a-18 |
10 | mm_craftroom_2a-19 | fire | Rescue the following objects from the fire: bag, handbag, pocketbook, purse, banana, pen. | mm_craftroom_2a | [
-1.5,
0,
-1
] | [
"pen",
"banana",
"bag, handbag, pocketbook, purse"
] | [
4200313,
6066122,
1904816,
4450171,
2118850,
5996111,
6654965,
11513224,
7651031
] | {"fire_positions": [[-0.75, 0.0, 1.5], [-0.75, 0.0, 2.0]]} | [] | [{"id": 5434997, "name": "cabinet_24_two_door_wood_oak_white_composite", "category": "cabinet", "position": {"x": 2.0355882732147217, "y": 0, "z": 2.649910217303467}}, {"id": 11287923, "name": "stelton_emma_tea_vacuum_jug", "category": "jug", "position": {"x": 1.8910744782267455, "y": 0.92240173, "z": 2.495885474343759... | 1,500 | room_setup_fire/mm_craftroom_2a-19 |
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HAZARD for EASI
Preprocessed HAZARD benchmark (ICLR 2024) for the EASI evaluation suite.
HAZARD evaluates embodied agents in dynamically changing disaster environments built on the ThreeDWorld (TDW) simulator. Agents must rescue target objects from fire, flood, or wind hazards.
Scenarios
| Scenario (Subset) | Train | Test | Total | Max Steps | Hazard |
|---|---|---|---|---|---|
fire |
76 | 25 | 101 | 1500 | Spreading flames destroy objects |
flood |
76 | 25 | 101 | 1500 | Rising water damages non-waterproof objects |
wind |
80 | 20 | 100 | 3000 | Wind blows objects away |
| Total | 232 | 70 | 302 |
Usage
from datasets import load_dataset
# Load fire scenario, train split
ds = load_dataset("oscarqjh/HAZARD_easi", "fire", split="train")
# Load wind scenario, test split
ds = load_dataset("oscarqjh/HAZARD_easi", "wind", split="test")
Schema
| Field | Type | Description |
|---|---|---|
id |
int | Sequential index within split |
episode_id |
string | Episode directory name (e.g., mm_craftroom_2a-1) |
task |
string | Scenario: fire, flood, or wind |
instruction |
string | Natural language task description |
scene_name |
string | TDW scene name (e.g., mm_craftroom_2a) |
agent_position |
list[float] | Agent spawn position [x, y, z] |
target_categories |
list[string] | Target object category names |
target_object_ids |
list[int] | Target object IDs in the scene |
hazard_params |
string (JSON) | Scenario-specific hazard parameters |
containers |
list[int] | Safe storage object IDs (wind only, empty for fire/flood) |
objects |
string (JSON) | All scene objects: [{id, name, category, position}] |
max_steps |
int | Maximum episode steps (1500 or 3000) |
source_dir |
string | Relative path to episode dir in simulator_data.zip |
Hazard Parameters
Fire: {"fire_positions": [[x, y, z], ...]}
Flood: {"source": [[x, y, z]], "direction": [[dx, dy, dz]], "speed": [float], "flood_source_from": "x_max|x_min|z_max|z_min"}
Wind: {"wind_direction": [x, y, z], "wind_resistance": {"obj_id": 0|1|2}}
Simulator Data
The simulator_data.zip file contains the raw episode data needed by the TDW bridge:
room_setup_fire/— Episode directories withinfo.json,log.txt,flood.jsonroom_setup_wind/— Episode directories withinfo.json,log.txtmeta_data/— Object value and temperature metadata
The log.txt files contain TDW command sequences that define scene layouts and object placements.
Source
- Paper: HAZARD Challenge: Embodied Decision Making in Dynamically Changing Environments (ICLR 2024)
- Code: UMass-Foundation-Model/HAZARD
- Simulator: ThreeDWorld (TDW)
License
Please refer to the HAZARD repository for license information.
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