Hugging Face's logo

Datasets:
nepfaff
/
scalable-real2sim

ArXiv:
License:
Dataset card Files
xet
Community
Dataset Viewer
The dataset viewer is not available for this subset.
Cannot get the split names for the config 'default' of the dataset.
Exception:    SplitsNotFoundError
Message:      The split names could not be parsed from the dataset config.
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
                  for split_generator in builder._split_generators(
                                         ^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 82, in _split_generators
                  raise ValueError(
              ValueError: The TAR archives of the dataset should be in WebDataset format, but the files in the archive don't share the same prefix or the same types.
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 65, in compute_split_names_from_streaming_response
                  for split in get_dataset_split_names(
                               ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
                  info = get_dataset_config_info(
                         ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
                  raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
              datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

Scalable Real2Sim

This repository hosts the benchmark dataset and model weights for Scalable Real2Sim: Physics-Aware Asset Generation Via Robotic Pick-and-Place Setups.

Repository Layout

  • scalable_real2sim_benchmark_dataset/object_data/*.tar: one archive per object directory under object_data/
  • scalable_real2sim_benchmark_dataset/robot_system_id_data/: unpacked robot system identification data
  • scalable_real2sim_model_weights/: unpacked model weights used by the pipeline

The object_data subdirectories are stored as individual tar archives to keep the Hugging Face repository at a manageable file count while preserving object-level downloads.

Extraction

To extract all object archives in place:

cd scalable_real2sim_benchmark_dataset/object_data
for archive in *.tar; do
  tar -xf "$archive"
done

After extraction, scalable_real2sim_benchmark_dataset/object_data/ will contain both the original .tar files and the extracted object directories. If you no longer need the archives locally, you can remove them after extraction.

Citation

If you use this dataset or the associated assets, please cite:

@article{pfaff2025_scalable_real2sim,
    author        = {Pfaff, Nicholas and Fu, Evelyn and Binagia, Jeremy and Isola, Phillip and Tedrake, Russ},
    title         = {Scalable Real2Sim: Physics-Aware Asset Generation Via Robotic Pick-and-Place Setups},
    year          = {2025},
    eprint        = {2503.00370},
    archivePrefix = {arXiv},
    primaryClass  = {cs.RO},
    url           = {https://arxiv.org/abs/2503.00370},
}

License

This repository is released under the MIT License. See the accompanying LICENSE file for the full text.
Downloads last month
5

Paper for nepfaff/scalable-real2sim