---
pretty_name: FlatLab Asset Library
license: cc-by-4.0
tags:
  - 3d
  - robotics
  - simulation
  - usd
  - isaac-sim
size_categories:
  - n<1K
---

# FlatLab Asset Library

## Contents

| Category | Assets | Category | Assets | Category | Assets |
|---|---:|---|---:|---|---:|
| Board | 6 | Book | 8 | Box | 8 |
| Chessboard | 4 | Clock | 4 | Cutting Board | 6 |
| Disk | 6 | Disk Case | 4 | Fabric | 4 |
| Keyboard | 6 | Laptop | 2 | Magazine | 6 |
| Mouse Pad | 4 | Pad | 6 | Painting | 4 |
| Photo Album | 4 | Plate | 6 | Scarf | 4 |
| Shorts | 4 | Skirt | 4 | Towel | 4 |

Total: **104 assets in 21 categories**.

## Asset visualization

![Visualization of all FlatLab assets](./images/flatobjectall.png)

## Repository layout

```text
Flat-Object-Assets.zip
Flat-Object-Assets/
├── Board/
│   ├── Board1/
│   │   ├── .metadata/
│   │   ├── simready_usd/
│   │   └── com.nvidia.simready.packaging.json
│   └── ...
├── Book/
└── ...
```

`Flat-Object-Assets/` contains 21 semantic category folders and 104 packaged assets. Each asset package contains its SimReady metadata, its entry-point USD under `simready_usd/`, and all associated dependencies. Preserve the directory hierarchy when downloading or relocating the assets because USD references may be relative.

`Flat-Object-Assets.zip` provides the same asset collection as a single downloadable archive.

## Download

```bash
hf download Hwsss/FlatLab-Asset \
  --repo-type dataset \
  --local-dir FlatLab-Asset
```

## Usage

Open an entry-point file such as `Flat-Object-Assets/Book/Book1/simready_usd/Book1.usd` in a compatible USD application or reference it from an NVIDIA Isaac Sim scene. On the Hugging Face Hub, click an entry-point `.usd` file to open the OpenUSD Viewer. Some objects use PhysX collision/contact simulation and some deformable objects require Position-Based Dynamics support.

## Project

- Project page: https://flatlab-web.github.io/
- Paper: *FlatLab: A Unified Methodology Framework and Simulation-Based Benchmark for Robotic Manipulation of Flat Objects*

## License

The FlatLab asset release is provided under the Creative Commons Attribution 4.0 International license. See `LICENSE` for details. Bundled third-party components, if any, remain subject to their original terms; see `THIRD_PARTY_LICENSES.md`.

## Citation

```bibtex
@inproceedings{zhu2026flatlab,
title={FlatLab: A Unified Methodology Framework and Simulation-Based Benchmark for Robotic Manipulation of Flat Objects},
author={Xingyu Zhu and Wenshuo Han and Zhouyu Wang and Yuran Wang and Ruihai Wu and Hao Dong and Fan Tang and Hechang Chen and Hyung Jin Chang and Yixing Gao},
booktitle={Forty-third International Conference on Machine Learning},
year={2026},
url={https://openreview.net/forum?id=1dWG9PJSVp}
}
```