UrbanVerse-CraftBench Scenes

The dataset contains 12 hand-crafted realistic urban scenes designed for benchmarking embodied AI in diverse urban environments. Each scene is a fully constructed, standalone IsaacSim-ready USD stage.

🎬 See preview videos here 🎬

Current release version: 0.1.0

Total size: 16.8 GB

License: CC BY-NC 4.0

Folder structure:

Scene folders follow the naming convention: scene_<id>_<place_type>_<topology>_<primary_attribute>_<secondary_attribute>.

UrbanVerse-CraftBench/
├── scene_01_residential_street_dual_sidewalks_dense_bollards_trash_bags/
├── scene_02_residential_street_single_sidewalk_door_to_street_buildings/
├── scene_03_residential_street_dual_sidewalks_clean/
├── scene_04_commercial_street_asymmetric_sidewalks_benches_bicycles/
├── scene_05_japanese_tourist_street_dual_sidewalks_blocked_by_vehicles/
├── scene_06_bar_street_dual_sidewalks_obstructed_fallen_scooters/
├── scene_07_narrow_alley_outdoor_dining/
├── scene_08_commercial_street_bike_lane_dual_sidewalks/
├── scene_09_cbd_t_intersection_construction_sites/
├── scene_10_cbd_cross_intersection_diverse_obstacles/
├── scene_11_urban_park_dogs_sports_area/
└── scene_12_courtyard_plaza_central_fountain/

Per-scene contents:

Each scene folder contains:

File	Description
Collected_export_version.tar	Archived USD scene. Extract this to get the full scene directory. Open Collected_export_version/export_version.usd in IsaacSim to load the scene.
preview_video.mp4	Flythrough video previewing the scene.
preview_front.png	Front-view screenshot of the scene.
preview_topdown.png	Top-down overview of the scene.
preview_closeup.png	Close-up screenshot highlighting scene details.
cam0_to_world.txt	Camera-to-world transformation matrices used for filming the preview video.

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Get Started

UrbanVerse-CraftBench Dataset Usage Toolkit: We provide a Python toolkit urbanverse-scene for easy, robust downloading and exploring the full dataset.

Request Access: First, you need to get access to this repository approved. Visit the repository page, fill out the form and click "Submit". Once your request is approved, you will be able to use our toolkit or any other method you prefer to download and access the files.

Install & Authentication

Hardware Requirements: Windows and Ubuntu are all supported for using most APIs, as it requires IsaacSim 4.5.0 for openning the scenes. See details of IsaacSim requirements here.

Install the toolkit package:

pip install urbanverse-scene --extra-index-url https://pypi.nvidia.com

Note: The --extra-index-url flag is required because isaacsim is hosted on NVIDIA's PyPI index.

Authenticate your machine with your Hugging Face account that have access to this HF repository approved:

hf auth login

You might be prompted to paste your Hugging Face access token, if you are not logged-in before. You can create a token here: https://huggingface.co/settings/tokens

After login, verify the current account:

hf auth whoami

Quick start

We recommend using the provided urbanverse-scene toolkit to quickly and efficiently get started with downloading and using UrbanVerse-CraftBench scenes.

import urbanverse_scene as uvs

(Optional) Set and override cache directory (default: ~/.cache/urbanverse_scenes/)

uvs.set("~/my_data/urbanverse_scenes")

List available CraftBench scenes and download specific scenes:

descs = uvs.craftbench.get_descriptions()

# Download & extract specific scenes
result = uvs.craftbench.load_scenes(descs[8:10])
usd_path = result[descs[8]]  # Path to .usd scene

Download all 12 CratBench scenes:

# Download
uvs.craftbench.download_all()

# Check download integrity & repair missing files
uvs.craftbench.check_integrity()
uvs.craftbench.repair()

Preview scenes in the browser or open them in IsaacSim simulator:

# Preview scenes in the browser (video + images)
uvs.craftbench.preview(descs[8:10])

# Open scenes in IsaacSim simulator
uvs.open(descs[8:9])
uvs.open(descs[8:9], headless=True, rtx=True)

Toolkit API overview

Function	Description
uvs.set(path)	Set the local cache directory
uvs.open(descriptions, headless, rtx)	Open scenes in IsaacSim
uvs.craftbench.get_descriptions()	List all 12 CraftBench scene names
uvs.craftbench.load_scenes(descriptions)	Download & extract specific scenes
uvs.craftbench.download_all()	Download the full CraftBench dataset
uvs.craftbench.check_integrity()	Verify download completeness
uvs.craftbench.repair()	Re-download missing files
uvs.craftbench.preview(descriptions)	Browser-based scene preview (video + images)

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Citation

If you use this dataset or find our work helpful, please cite our paper:

@inproceedings{
  liu2026urbanverse,
  title={UrbanVerse: Scaling Urban Simulation by Watching City-Tour Videos},
  author={Mingxuan Liu and Honglin He and Elisa Ricci and Wayne Wu and Bolei Zhou},
  booktitle={The Fourteenth International Conference on Learning Representations},
  year={2026},
}