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JoeyYuzy
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humanoidBench

asset stringlengths 5 14	gaussians int64 1.11M 22.2M	layers int64 2 2	usd_validated bool 1 class	usdz_validated bool 1 class	up_axis stringclasses 1 value
ARC_B2	3,635,133	2	true	true	Z
ATMRI	2,142,632	2	true	true	Z
bookstore	9,224,903	2	true	true	Z
conferencehall	4,140,655	2	true	true	Z
office	22,205,650	2	true	true	Z
penthouse1	1,107,040	2	true	true	Z
penthouse2	3,710,679	2	true	true	Z
penthouse3	3,442,174	2	true	true	Z
room2	2,544,577	2	true	true	Z
roomtour	3,363,518	2	true	true	Z
sculpture	3,366,517	2	true	true	Z
ARC_B2	3,635,133	2	true	true	Z
ATMRI	2,142,632	2	true	true	Z
bookstore	9,224,903	2	true	true	Z
conferencehall	4,140,655	2	true	true	Z
office	22,205,650	2	true	true	Z
penthouse1	1,107,040	2	true	true	Z
penthouse2	3,710,679	2	true	true	Z
penthouse3	3,442,174	2	true	true	Z
room2	2,544,577	2	true	true	Z
roomtour	3,363,518	2	true	true	Z
sculpture	3,366,517	2	true	true	Z

humanoidBench scene assets

This repository contains 11 repaired Gaussian scene assets converted to USD with the 3DGRUT exporter. Files are in cvpr/repaired/.

Start with each asset's same-name .usdz file. It bundles the Gaussian data and completion layers. The .usd alternative requires the adjacent gaussians.usdc file. A renderer supporting ParticleField3DGaussianSplat is required; these assets are not conventional triangle meshes and do not include robot collision geometry.

Asset	Packaged USD	RTX review
ARC_B2	USDZ	9 views
ATMRI	USDZ	9 views
bookstore	USDZ	9 views
conferencehall	USDZ	9 views
office	USDZ	9 views
penthouse1	USDZ	9 views
penthouse2	USDZ	9 views
penthouse3	USDZ	9 views
room2	USDZ	9 views
roomtour	USDZ	9 views
sculpture	USDZ	9 views

Contents and validation

Each asset directory contains the packaged and unpackaged USD assets, cleaned source Gaussians (cleaned.ply), added completion Gaussians (completion.ply), edit indices, a repair report, validation results, and nine actual Isaac Sim RTX views. The collection includes 99 review images. manifest.json records the original source SHA256 hashes; validation_summary.json records USD and USDZ structural and dependency checks.

The replacement office.ply is delivered as office; the old empty office_showroom.ply placeholder is not included. Office is partitioned into multiple Gaussian fields so that all retained points load within the renderer's per-field limit.

Repair scope and limitations

Repairs include detected floor gaps, cropped boundaries, inferred exterior/background completion, and conservative cleanup of invalid or low-quality points. Original PLY inputs were preserved locally. Added scenery is inferred, not a recovery of the original surroundings. Some reconstruction blur, reflection residuals and fuzzy edges remain, and the review views do not certify every possible viewpoint. Real shadows, dark materials and the bookstore's mirrored floor are preserved. Physical scale has not been calibrated on site.

See delivery notes and the per-asset reports for details.

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Total file size:

18.2 GB