tags:
- 3d
- gaussian-splatting
- usd
- robotics
pretty_name: humanoidBench Scene Assets
humanoidBench scene assets
Flat-ground navigation edition
The latest flat-ground edition is in cvpr/flat_navigation/. All 11 scenes have a horizontal main-level visual floor and a static ground collider at world Z=0. Start with the same-name .usdz package to include all referenced layers.
Validation: 3,179 PhysX downward rays, 55 drop probes (30 kg each), USD/USDZ dependency checks, and 99 actual RTX review images. The floor height range is zero. See per-asset physics_validation.json, validation.json, and report.json.
Scope: Ground collision only. Gaussian furniture, walls, stairs and upper platforms remain visual assets without obstacle colliders. Upper platforms are outside the flat navigation level. A humanoid controller or locomotion policy has not been tested. Robot root spawn height must account for its foot-to-root offset. Scene coordinates were leveled; the transform is recorded in each report.
| Flat-ground 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 |
Previous repaired edition
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.
