TOWER-Assets

Versioned simulation assets for the TOWER Benchmark. Immutable Hugging Face tags identify releases; artifact paths remain stable.

November 2026 twelve-task benchmark

The benchmark-202611-v1 bundle contains the exact station, measured wood models/textures, Task7 tools and calibration inputs for the 600 frozen OpenWAM/MME scenes. It uses Isaac Sim 6.1.0.0 / Python 3.12 and is independent of the older modular releases below.

Use the pinned source and setup guide. For example, with Python 3.11 or newer:

git clone https://github.com/tower-benchmark/TOWER.git
cd TOWER
git checkout 0a44885303c2bd16a14f545406d31e4b20fbb8c0
python3 tools/simulator/benchmark_assets.py download --assets "$PWD/benchmark-assets"

No Hugging Face login or NAS access is required. The downloader pins immutable commit b67e0f0e0d14a592e6636abb1d616ec756082ea1 and checks every file. Raw calibration records preserve historical provenance; the portable bootstrap resolves operational paths beneath the downloaded assets and checkout. The bundle's own manifest.json records its licenses and hashes.

Independent validation used an anonymous download and a fresh public SDK on an RTX 4090: all twelve task variants passed startup/physics checks, all 48 camera views were valid, and all 600 relocated scenes retained their non-path values. These checks are startup diagnostics, not learned-policy evaluation results.

Earlier modular releases (0.0.x)

manifest.json                         aggregate download index
releases/<version>.json               exact module set for one release
modules/stations/*.json               shared station modules
modules/tasks/*.json                  independently versioned task families
station/*                             shared USD/USDZ station payloads
tasks/*                               task scenes, initial states, and thin USDA layers
metadata/task-catalog.json            discoverable task-family index

Each tower-asset-module-v1 document owns its dependencies, artifacts, checksums, variants, and task metric protocol. A new task family adds one module document and its payloads; release tooling discovers it through a tower-asset-release-v1 descriptor without a code registry change.

Task USDA files compose the shared station and add only task-specific prims or overrides. Checkpoint-bound scene JSON uses portable asset:// and generator:// references. Dataset provenance uses non-executable dataset:// identifiers. Machine-local paths and local validation reports are not release artifacts.

The older tower_transfer, cross_tower_transfer, and aligned_stack USDA files remain staging descriptors. Release 0.0.3 adds complete composed layout layers and checkpoint-bound scenes for selected Task 2, 4, 5, and 6 variants; the module descriptor is authoritative for each variant's contents.

Licensing

TOWER-authored task and block data is licensed under CC BY 4.0. Composite station assets also contain an AgileX arm model licensed under MIT; see THIRD_PARTY_NOTICES.md. Per-file license and SHA-256 metadata in manifest.json is authoritative.