metadata
license: mit
task_categories:
- robotics
tags:
- simulation
- 3d
- scene-generation
SceneSmith Preprocessed Data
This repository contains preprocessed assets and embeddings for the paper SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes.
Project Page | GitHub | arXiv
SceneSmith is a hierarchical agentic framework that generates simulation-ready indoor environments from natural language prompts. This dataset repository provides the preprocessed data required for the framework, including articulated objects and material embeddings.
Dataset Description
The artifacts in this repository include:
- ArtVIP Assets: Preprocessed articulated furniture (cabinets, drawers, etc.) converted to Drake SDFormat with collision geometries and CLIP embeddings.
- AmbientCG Embeddings: Pre-computed CLIP embeddings for free CC0 PBR materials from AmbientCG, used for semantic material retrieval during scene generation.
Sample Usage
You can download specific parts of the dataset using the huggingface-cli.
Download ArtVIP Assets
To download the VHACD variant (recommended for tighter collision geometries):
huggingface-cli download nepfaff/scenesmith-preprocessed-data \
artvip/artvip_vhacd.tar.gz --repo-type dataset --local-dir .
mkdir -p data/artvip_sdf
tar xzf artvip/artvip_vhacd.tar.gz -C data/artvip_sdf
Alternatively, to download the CoACD variant (which can produce faster simulations):
huggingface-cli download nepfaff/scenesmith-preprocessed-data \
artvip/artvip_coacd.tar.gz --repo-type dataset --local-dir .
mkdir -p data/artvip_sdf
tar xzf artvip/artvip_coacd.tar.gz -C data/artvip_sdf
Download AmbientCG Material Embeddings
huggingface-cli download nepfaff/scenesmith-preprocessed-data \
--repo-type dataset \
--include "ambientcg/embeddings/**" \
--local-dir data/scenesmith-preprocessed-data
mv data/scenesmith-preprocessed-data/ambientcg/embeddings data/materials/embeddings
Citation
@misc{scenesmith2026,
title={SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes},
author={Nicholas Pfaff and Thomas Cohn and Sergey Zakharov and Rick Cory and Russ Tedrake},
year={2026},
eprint={2602.09153},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2602.09153},
}