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Concretely, we find that agents trained on 122 scenes from HSSD outperform agents trained on two orders of magnitude more scenes from the ProcTHOR dataset.
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<imgsrc="./static/images/objectnav_teaser.png"
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alt="Object diversity of HSSD."/>
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<p>Zero-shot ObjectNav performance on HM3DSem and MP3D: for agents pretained on synthetic 3D scene datasets of different scale and quality.</p>