| task_categories: | |
| - robotics | |
| license: cc-by-4.0 | |
| # TableVerse-100K: A Large-Scale Tabletop Dataset with Real-World Grounded Layouts for Generalizable Manipulation | |
| [](https://creativecommons.org/licenses/by/4.0/) | |
| [](https://github.com/google-deepmind/mujoco) | |
| [](https://huggingface.co/) | |
| TableVerse-100K is an unprecedented, massive-scale Real2Sim tabletop dataset constructed directly from unstructured, in-the-wild single internet frames. By replacing traditional probabilistic hallucinations with a deterministic perception-to-physics workflow (featuring Layout-Consistent Collision Rectification, LCCR), TableVerse bridges the reality gap to deliver physically consistent, simulation-ready digital twins. | |
| The dataset comprises **100K unique tabletop environments**, nearly **1M distinct object instances** spanning over **35K semantic categories**, completely annotated with multi-dimensional physical properties and paired with continuous, collision-free expert manipulation trajectories. | |
| > ⚠️ **Data Limitation & Disclaimer:** Please note that because TableVerse-100K is generated through a fully automated, end-to-end Real-to-Sim pipeline to achieve unprecedented scale, the dataset is inherently not perfect and contains geometric artifacts or semantic misalignments in some long-tail scenarios. | |
| --- | |
| ## 📁 Repository Structure | |
| ```text | |
| TableVerse/ | |
| ├── textures/ | |
| ├── scenes/ | |
| │ ├── <scene_uid>/ | |
| │ │ ├── assets/ | |
| │ │ ├── textures/ | |
| │ │ ├── scene.glb | |
| │ │ ├── scene.xml | |
| │ │ ├── scene_with_plane.xml | |
| │ │ └── relabel_name.json | |
| │ └── ... |