| --- |
| license: other |
| license_name: cc-by-nc-4.0 |
| license_link: LICENSE |
| pretty_name: SpatialAct-Bench-Assets |
| tags: |
| - robotics |
| - 3d |
| - manipulation |
| - benchmark |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/*.parquet |
| extra_gated_heading: "Request access to SpatialAct-Bench-Assets" |
| extra_gated_description: >- |
| This is an early research release. Access requests are reviewed |
| manually by the authors. |
| extra_gated_prompt: >- |
| The dataset-authored curation, metadata, converted representations, |
| and packaging are licensed under CC BY-NC 4.0 for non-commercial |
| research use. Underlying geometry, textures, scene components, and |
| runtime dependencies retain their applicable upstream terms; see |
| provenance/third_party_notices.md and |
| provenance/scene_third_party_notices.md. By requesting access you |
| agree to non-commercial research use and to comply with all applicable |
| upstream license and attribution requirements. |
| extra_gated_button_content: "Agree and request access" |
| --- |
| |
| # SpatialAct-Bench-Assets (SPAB) |
|
|
| SpatialAct-Bench-Assets is the object-and-scene release for |
| SpatialAct-Bench, a target-centric benchmark for embodied spatial |
| reasoning and manipulation. It combines a curated object library, |
| portable tabletop scene bundles, and machine-readable benchmark |
| metadata so that environment construction, target selection, and task |
| evaluation can be reproduced across machines. |
|
|
| ## 1. Dataset Overview |
|
|
| ### At a glance |
|
|
| - **701** movable 3D object assets spanning **66** basic categories and |
| **80** canonical classes. |
| - **32** selected Infinigen-derived tabletop scenes packaged for Franka |
| manipulation in Isaac Sim. |
| - One representative preview per object. |
| - Per-object semantic, geometry, appearance, benchmark-task, provenance, |
| and graspability metadata. |
| - Manually gated research access on Hugging Face. |
|
|
| ### Repository structure |
|
|
| ```text |
| README.md |
| benchmark_32_scenes.json scene selection and validation metadata |
| spab_objects_v1.json canonical metadata for 701 objects |
| data/ |
| train-00000.parquet tabular object metadata |
| assets/ |
| SPAB-OBJ-000001/ |
| asset.usdc object USD entry point |
| textures/ local textures, when required |
| ... |
| previews/ |
| SPAB-OBJ-000001.jpg one representative preview per object |
| metadata.jsonl |
| scene/ |
| seed_45/ |
| scene.usdc portable scene entry point |
| textures/ scene-local textures |
| materials/ scene-local custom materials |
| ... |
| provenance/ |
| third_party_notices.md |
| scene_third_party_notices.md |
| LICENSE |
| SCHEMA.md |
| files.sha256 |
| tools/ |
| verify_release.py |
| ``` |
|
|
| The complete `assets/SPAB-OBJ-xxxxxx/` directory is the relocation unit |
| for an object. The complete `scene/seed_<seed>/` directory is the |
| relocation unit for a scene. Do not move an entry-point USDC file without |
| its accompanying local resource directories. |
|
|
| ## 2. 3D Object Asset Library |
|
|
| ### Content and taxonomy |
|
|
| The object library contains **701** stable public object IDs of the form |
| `SPAB-OBJ-xxxxxx`. Its source composition is: |
|
|
| | Source | Assets | |
| |---|---:| |
| | RoboCasa | 409 | |
| | OmniObject3D | 229 | |
| | Google Scanned Objects | 13 | |
| | GraspXL | 20 | |
| | Direct Objaverse selection | 2 | |
| | Legacy pool | 28 | |
| | **Total** | **701** | |
|
|
| The legacy pool contains 21 Objaverse-derived objects and 7 YCB objects. |
| See [`provenance/third_party_notices.md`](./provenance/third_party_notices.md) |
| for source-level attribution and license details. |
|
|
| Each record in `spab_objects_v1.json` provides: |
|
|
| - a stable object ID and relative USD path; |
| - basic category, canonical class, subtype, and natural-language caption; |
| - physical size, plausible mass range, and the spawn-time uniform scale; |
| - material/color information and a representative preview; |
| - eligibility and accepted answers for category, subtype, color, and |
| pointing tasks; and |
| - an empirically measured graspability tier. |
|
|
| Category QA accepts either the basic category or the canonical class when |
| the two differ. Subtype QA requires an exact subtype match. Color answers |
| use a closed eight-color vocabulary plus `multicolor`. See |
| [`SCHEMA.md`](./SCHEMA.md) for the complete field definitions. |
|
|
| ### Portable USD packages |
|
|
| Every object contains a binary `asset.usdc` entry point and all required |
| local texture files. Of the 701 objects, **677** use packaged texture files |
| and **24** require no texture files. The packages contain no external USD |
| layer references or machine-specific absolute paths. |
|
|
| Material shaders may reference Isaac Sim/Omniverse built-in MDL modules, |
| including `OmniPBR.mdl` and, for some sources, `gltf/pbr.mdl`. These modules |
| are runtime dependencies supplied by Isaac Sim and are not redistributed |
| with this dataset. Geometry, UVs, and physics schemas remain readable in a |
| generic USD viewer, but materials may fall back when its MDL runtime is not |
| available. |
|
|
| Apply `geometry.scale` from `spab_objects_v1.json` as a uniform |
| `xformOp:scale` at spawn time, before physics initialization. This value is |
| not necessarily baked into the object USDC. |
|
|
| ### Graspability tiers |
|
|
| Each object was evaluated in five fixed tabletop layouts, one trial per |
| layout and five trials per object (**3,505** trials total). The `grasp` |
| field is a difficulty tier derived from the number of successful trials, |
| not a policy-independent physical property. |
|
|
| | Successful trials | Tier | Assets | Share | |
| |---:|---|---:|---:| |
| | 0 / 5 | `low` | 182 | 26.0% | |
| | 1–2 / 5 | `mid` | 440 | 62.8% | |
| | 3–5 / 5 | `high` | 79 | 11.3% | |
|
|
| ## 3. Scene Library |
|
|
| ### Selection |
|
|
| The scene release contains **32** tabletop environments selected from a |
| 40-scene candidate pool. Every retained scene achieved at least **2 |
| successes in 6 trials** during the common screening protocol. Six scenes |
| also carry the `expanded_eval_validated` status in the manifest. |
|
|
| Included seeds: |
|
|
| ```text |
| 45, 86, 152, 182, 196, 794, 813, 7777, |
| 7801, 7812, 7845, 7897, 7909, 7927, 7944, 7983, |
| 7986, 7996, 8001, 8017, 8062, 8064, 8121, 8168, |
| 8178, 8188, 8192, 8383, 8393, 8402, 8415, 8473 |
| ``` |
|
|
| `benchmark_32_scenes.json` is the authoritative scene index. For each |
| scene it records the benchmark scene ID, generation seed, portable path, |
| screening result, and validation status. Screening success rates describe |
| one fixed evaluation protocol and should be treated as environment |
| difficulty signals, not model-independent scene scores. |
|
|
| ### Packaging and portability |
|
|
| Each `scene/seed_<seed>/` bundle contains: |
|
|
| ```text |
| scene.usdc binary USD scene entry point |
| textures/ local scene textures |
| materials/ local custom MDL materials |
| ``` |
|
|
| The scene entry point has no machine-specific absolute paths and no active |
| Replicator or post-processing runtime graph. Scene-local dependencies are |
| relative to the bundle directory. Isaac Sim's built-in shader library is |
| still required for standard Omniverse MDL modules. |
|
|
| The release validation covers two complementary layers: |
|
|
| 1. **Static package validation:** binary-USDC structure, absence of |
| symlinks and absolute/remote asset paths, removal of runtime-only |
| `/Replicator` and `/Render` graphs, and resolution of every packaged |
| local dependency. |
| 2. **Isaac Sim validation:** standalone loading, required camera checks, |
| material resolution, and non-constant 640×360 renders from both the |
| external and wrist cameras. |
|
|
| Move or download the entire `seed_<seed>` directory to preserve material |
| and texture resolution. |
|
|
| ## 4. Other |
|
|
| ### Download |
|
|
| This repository is manually gated. Sign in to Hugging Face, accept the |
| terms, and wait for author approval before downloading files. |
|
|
| ```bash |
| hf auth login |
| |
| # Download the complete dataset. |
| hf download nerako/SpatialAct-Bench-Assets \ |
| --repo-type dataset \ |
| --local-dir SpatialAct-Bench-Assets |
| |
| # Or download only the scene release and its manifest. |
| hf download nerako/SpatialAct-Bench-Assets \ |
| scene/ benchmark_32_scenes.json \ |
| --repo-type dataset \ |
| --local-dir SpatialAct-Bench-Scenes |
| ``` |
|
|
| For the object release, run `python3 tools/verify_release.py` after a full |
| download to perform the provided integrity checks. |
|
|
| ### Access status |
|
|
| The dataset page is publicly discoverable, but file access is |
| **manually gated**. Access requests are reviewed by the authors and must |
| be approved before download. Gating does not replace compliance with the |
| license and third-party terms. |
|
|
| ### License and third-party terms |
|
|
| The dataset-authored selection, normalization, converted representations, |
| and metadata are released for non-commercial research under **CC BY-NC |
| 4.0** as described in [`LICENSE`](./LICENSE). |
|
|
| Underlying geometry, textures, and other third-party components remain |
| subject to their applicable upstream licenses and attribution |
| requirements. Inclusion in this repository does not relicense those |
| components or grant rights beyond their original terms. Object-level |
| source information is documented in |
| [`provenance/third_party_notices.md`](./provenance/third_party_notices.md). |
| Scene bundles and their embedded/runtime dependencies must likewise be |
| used in accordance with the terms of their upstream scene-generation and |
| simulation components; see |
| [`provenance/scene_third_party_notices.md`](./provenance/scene_third_party_notices.md). |
| Review the applicable upstream terms before use or redistribution. |
|
|
| ### Citation |
|
|
| A formal citation will be added with the accompanying SpatialAct-Bench |
| paper. |
|
|
| ### Changelog |
|
|
| - **v1.1** (2026-07-31): Added the 32-scene portable benchmark release |
| and scene manifest. |
| - **v1.0** (2026-07-21): Initial 701-object release with unified |
| five-scene graspability evaluation. |
|
|
