pretty_name: Procedural Indoor Environments for Robot Simulation
license: apache-2.0
language:
- en
task_categories:
- robotics
size_categories:
- n<1K
tags:
- simulation
- indoor-scenes
- scene-generation
- embodied-ai
- articulated-scenes
- mujoco
- isaac-sim
- scenesmith
configs:
- config_name: scenes
data_files:
- split: collection
path: data/scenes.parquet
Procedural Indoor Environments for Robot Simulation
Nova3D Website · Open Nova Studio
20 indoor environments generated by Nova3D using the same text prompts as SceneSmith. Each scene includes editable Python source, semantic and spatial annotations, articulated joints, physical properties, and exports for Isaac Sim, MuJoCo, Gazebo, and PyBullet.
The prompts come from the evaluation dataset released with SceneSmith (ICML 2026), by Nicholas Pfaff, Thomas Cohn, Sergey Zakharov, Rick Cory, and Russ Tedrake at MIT and Toyota Research Institute. Nova3D generated each environment independently from its text prompt. The original scene IDs identify the corresponding SceneSmith examples.
Nova3D represents each environment as a program defining its geometry, layout, materials, and mechanisms. The source and annotations expose object dimensions, joint constraints, and contact properties for inspection and modification.
The collection contains four living rooms, three dining rooms, two bedrooms, two kitchens, two recreation rooms, and seven specialized settings: an artist studio, laboratory, library, dental office, server room, pet grooming salon, and bakery.
Contributions
| Contribution | Released content | Research Applications |
|---|---|---|
| Shared input prompts | Original descriptions and corresponding SceneSmith IDs. | Compare object coverage and spatial arrangements under the same requested scene specification. |
| Editable scene source | Python programs defining geometry, layout, materials, and mechanisms. | Vary object dimensions, placement, and physical parameters. |
| Semantic and spatial annotations | Part IDs, labels, positions, bounds, and dimensions. | Check object counts, spatial relationships, and clearance. |
| Articulation and contact physics | Joint axes, pivots, limits, collision geometry, and body properties. | Configure opening, closing, and object-interaction tasks. |
| Simulator exports | USD, MJCF, SDF, and PyBullet files with their dependencies. | Load and inspect the environments in existing simulation tools. |
Generation inputs
All 20 scenes were generated from text alone using GPT-6 Astra. Each download includes the original prompt. SceneSmith images and meshes were not supplied to Nova3D. Selection and provenance records the scene IDs, sampling rule, and source revision.
Dataset Schema
Paths are relative to this repository. Export columns identify included native files.
| Column | Meaning |
|---|---|
preview_image |
Rendered scene overview. |
environment |
Readable description of the setting. |
scene_id |
Original SceneSmith scene and prompt identifier. |
base_glb |
Base scene geometry and appearance in GLB. |
source_code |
Full generated Python scene source. |
isaac_sim_export |
Native USD files are included. |
mujoco_export |
Native MuJoCo MJCF files are included. |
gazebo_export |
Native Gazebo SDF files are included. |
inputs |
Input description and upstream provenance record. |
generation_model |
GPT-6 Astra. |
part_count |
Number of pieces in the exported scene specification. |
joint_count |
Number of parts declaring hinge or sliding motion. |
parts |
Part identifiers, labels, bounds, and physical declarations. |
articulation |
Joint-bearing parts with pivot, axis, limits, and body properties. |
measurements |
Generated geometry bounds and dimensions in metres. |
physics |
World and body physical parameters. |
materials |
Texture paths and native material-binding locations. |
isaac_usd |
USD scene entrypoint. |
mujoco_mjcf |
MuJoCo XML entrypoint. |
gazebo_sdf |
Gazebo world entrypoint. |
category |
Indoor setting category. |
Download
pip install huggingface_hub
Download a complete scene archive:
from huggingface_hub import hf_hub_download
archive = hf_hub_download(
repo_id="BoooomNing/nova-scenesmith",
repo_type="dataset",
revision="v1.0.0",
filename="archives/scene_034.zip",
local_dir="nova-indoor-scenes",
)
Extract it, then open an entrypoint below. The archive contains the same scene files listed in the dataset, with all relative dependencies retained.
| Tool | File inside scenes/<scene_id>/ |
|---|---|
| Isaac Sim | simulation/environment.usda |
| MuJoCo | simulation/environment.xml |
| Gazebo | simulation/world.sdf |
| PyBullet | simulation/run_pybullet.py |
| GLB viewer | base/model.glb |
For all 20 archives, use snapshot_download with allow_patterns=["archives/*", "LICENSE", "NOTICE", "CREDITS.md", "credits/*"]. Individual scene files are also available under scenes/.
Citation and credits
Please cite SceneSmith and this collection when using the paired descriptions and Nova3D outputs. BibTeX · Credits and licenses · Files