---
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/`](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](cvpr/flat_navigation/ARC_B2/ARC_B2.usdz) | [9 views](cvpr/flat_navigation/ARC_B2/previews/rtx_contact.jpg) |
| ATMRI | [USDZ](cvpr/flat_navigation/ATMRI/ATMRI.usdz) | [9 views](cvpr/flat_navigation/ATMRI/previews/rtx_contact.jpg) |
| bookstore | [USDZ](cvpr/flat_navigation/bookstore/bookstore.usdz) | [9 views](cvpr/flat_navigation/bookstore/previews/rtx_contact.jpg) |
| conferencehall | [USDZ](cvpr/flat_navigation/conferencehall/conferencehall.usdz) | [9 views](cvpr/flat_navigation/conferencehall/previews/rtx_contact.jpg) |
| office | [USDZ](cvpr/flat_navigation/office/office.usdz) | [9 views](cvpr/flat_navigation/office/previews/rtx_contact.jpg) |
| penthouse1 | [USDZ](cvpr/flat_navigation/penthouse1/penthouse1.usdz) | [9 views](cvpr/flat_navigation/penthouse1/previews/rtx_contact.jpg) |
| penthouse2 | [USDZ](cvpr/flat_navigation/penthouse2/penthouse2.usdz) | [9 views](cvpr/flat_navigation/penthouse2/previews/rtx_contact.jpg) |
| penthouse3 | [USDZ](cvpr/flat_navigation/penthouse3/penthouse3.usdz) | [9 views](cvpr/flat_navigation/penthouse3/previews/rtx_contact.jpg) |
| room2 | [USDZ](cvpr/flat_navigation/room2/room2.usdz) | [9 views](cvpr/flat_navigation/room2/previews/rtx_contact.jpg) |
| roomtour | [USDZ](cvpr/flat_navigation/roomtour/roomtour.usdz) | [9 views](cvpr/flat_navigation/roomtour/previews/rtx_contact.jpg) |
| sculpture | [USDZ](cvpr/flat_navigation/sculpture/sculpture.usdz) | [9 views](cvpr/flat_navigation/sculpture/previews/rtx_contact.jpg) |

![Flat-ground overview](cvpr/flat_navigation/all_assets_preview.jpg)