TableVerse: A Large-scale Tabletop Dataset with Real-world Grounded Layouts for Generalizable Manipulation
Paper • 2607.21017 • Published • 7
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This dataset redistributes derivative Gaussian-splat conversions of TableVerse-100K (ByteDance, CC BY 4.0). By requesting access you agree to the same CC BY 4.0 terms, including attribution to the original dataset.
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TableVerse -> Gaussian splats
Real Gaussian splats (.spz) converted from TableVerse-100K
(ByteDance, CC BY 4.0) via this project's own analytic, training-free
mesh-to-splat converter (splataverse.cli mesh-to-splat --split components,
CPU/torch backend). Ingestion of the full ~100k-scene dataset is in
progress; scenes are added incrementally as they finish.
Source attribution
- Dataset: TableVerse-100K, ByteDance (https://huggingface.co/datasets/ByteDance/TableVerse)
- Paper: Wang, Boyuan et al., "TableVerse: A Large-scale Tabletop Dataset with Real-world Grounded Layouts for Generalizable Manipulation", arXiv:2607.21017
- License: CC BY 4.0 (this derivative dataset is released under the same terms)
Structure
One self-contained folder per scene:
scene_000123/
scene.usd -- references every object below, world-space pose + metadata
objects.tar -- every object's .spz, bundled into one archive
objects.tar-- one real Gaussian splat per real object instance in the scene (no deduplication -- every repeated item, e.g. 30 near-identical pretzels, gets its own splat), bundled into a single uncompressed tar archive underobjects/<clean_name>.spz. Names are human-readable, derived from the scene's own semantic label and disambiguated by a numeric suffix for repeats: first instance unsuffixed ("fork"), later ones "fork_1", "fork_2", etc. Extract the archive into the scene's own folder (tar -xf objects.tar) andscene.usd's asset references resolve exactly as if the files had never been bundled. Scenes added before 2026-09-23 instead ship this as loose files directly underobjects/<clean_name>.spz(noobjects.tar) -- switched to the bundled form once ingestion approached HuggingFace's 1,000,000-file per-repo cap; both layouts carry identical content, a consumer just needs to check forobjects.tarfirst and fall back to the looseobjects/folder if it isn't present.scene.usd-- a USD stage with one flatXformper object under/Scene/Objects/<name>, each carrying its real world-spacexformOp:transformand customsplat:*attributes:splat:file(the relative path to its.spz, e.g.objects/fork.spz-- valid onceobjects.taris extracted),splat:labelandsplat:distinguishingPhrases(copied from the source dataset's own per-instance annotations),splat:sourceNode(the original glTF node name, for traceability), andsplat:gaussianCount. The stage root carriessplat:sceneUid(the source dataset's own scene id). This is the same Xform +splat:file-reference convention this project uses for its own articulated/rigged assets -- load a single object directly, or compose the whole scene fromscene.usd(each object's.spzalready carries its own real position/rotation/scale; the USD does not need to be re-derived to get a full-scene render, only composed).manifest.jsonl-- one row per shard, appended as shards complete;contact_sheet_scenes.png-- a grid preview of real composed scenes with real scene labels, refreshed periodically during ingestion.
Note on deduplication: real content-hash checks (SHA-256 on raw vertex data) confirmed that repeated same-labeled instances within a scene are NOT byte-identical -- each is a genuinely distinct reconstruction, not a shared template with only a transform difference. So there is no viable cross-instance asset library to deduplicate against; every instance here is real, distinct geometry.
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