---
license: mit
pretty_name: Scalable Real2Sim
---

# Scalable Real2Sim

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

- Project website: https://scalable-real2sim.github.io/
- Paper: https://arxiv.org/abs/2503.00370
- Code: https://github.com/nepfaff/scalable-real2sim

## 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:

```bash
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:

```bibtex
@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.