Awomo-SimDataEngine

This repository currently contains a partial release of the dataset. More data is coming soon.

Data accompanying the Awomo-SimDataEngine technical report. This initial release contains scene compositions and standalone object assets; robot trajectories are not included.

Contents

Directory	Contents
scenes/scene_augmentation/inputs	Original scenes and their dependencies: 10 source scenes, 13 rooms
scenes/scene_augmentation/variants	2,600 room variants, with 30 additional objects each
scenes/scene_augmentation/multiroom_combined	200 four-room compositions, with 120 additional objects each
assets/scene_augmentation	262 shared USD object assets and a catalog
assets/libero_runtime	200 selected OBJ/MTL/texture/MuJoCo XML asset directories

The 262 USD assets are stored once and referenced by the scenes. The 200 runtime assets exclude IDs already present in the scene asset set; matching IDs are not a geometry-level deduplication test. Runtime assets include benchmark collision proxies and should not be interpreted as newly validated articulated assets.

Open a scene

Download both scenes/scene_augmentation and assets/scene_augmentation, retaining their repository-relative positions. Open scenes/scene_augmentation/variants/<room_key>/variant_0001/augmented.usda in a compatible USD/Isaac Sim environment. Four-room entry points are named augmented_all_rooms.usda.

USD references have been relocated and checked for missing local dependencies. Placement and manifest paths are relative to the repository root. Internal machine paths and production logs have been removed. Run python3 validate_release.py to check scene/XML dependencies, or sha256sum -c SHA256SUMS to verify downloaded files.

Validation scope

The source package reports complete static auditing of 2,600 variants and zero detected overlap violations. Physics stability was evaluated on representative samples, not every variant. The four-room compositions reuse room variants and are not an additional independent generation cohort.

Sources and usage terms

The release combines self-developed assets and scenes with publicly available source data, including HSSD-derived objects and SceneSmith source scenes. The data owner has confirmed that these components may be redistributed. Upstream components retain their respective usage terms; this repository does not assign a blanket license to all components. A source/attribution inventory is provided in SOURCES.md.

Scene augmentation release — 2026-09-30

scenes/augmentation_20260930 contains 2,000 complete scene compositions from 9 source scenes (8 single-room scenes × 222 variants, plus one four-room apartment × 224). This batch includes 1,800 existing compositions and 200 additional compositions; these are augmented layouts, not 2,000 distinct base scenes. Robot trajectories are not included. The earlier release and standalone asset collections are unchanged.

Use this batch's complete_scenes.csv or complete_scenes.jsonl as the authoritative complete-scene list. Download the entire batch to retain its required model/material/texture dependencies. USD paths are relative to the batch root; preserve the directory layout. See the batch README for Isaac Sim 5.1 usage, source attribution and validation scope. The source delivery reports full static checks; dynamic physics was sampled on 18 complete scenes / 720 added objects, not all 2,000 scenes.