| --- |
| license: other |
| license_name: cc-by-nc-4.0 |
| license_link: LICENSE |
| pretty_name: SpatialAct-Bench-Assets |
| tags: |
| - robotics |
| - 3d |
| - manipulation |
| - benchmark |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/*.parquet |
| extra_gated_heading: "Request access to SpatialAct-Bench-Assets" |
| extra_gated_description: >- |
| This is an early research release. Access requests are reviewed |
| manually by the authors. |
| extra_gated_prompt: >- |
| This dataset is licensed under CC BY-NC 4.0 for non-commercial |
| research use only. It is a derivative work built from RoboCasa, |
| OmniObject3D, Google Scanned Objects, GraspXL, Objaverse, and the |
| YCB Object and Model Set — see provenance/third_party_notices.md |
| for the complete per-source attribution required by each original |
| license. By requesting access you agree to use this dataset for |
| non-commercial research purposes only and to comply with all |
| license terms referenced above. |
| extra_gated_button_content: "Agree and request access" |
| --- |
| |
| # SpatialAct-Bench-Assets (SPAB) |
|
|
| A curated, de-identified 3D object asset library for the SpatialAct-Bench |
| target-centric "acknowledge" benchmark (built for pi0.5 / DROID-style |
| manipulation policies: grasp a target object, then answer questions |
| about its category, subtype, or color). |
|
|
| ## At a glance |
|
|
| - **701** assets, **66** basic categories, **80** canonical (detailed) |
| classes. |
| - Every asset ships as one self-contained USD entry point |
| (`assets/SPAB-OBJ-xxxxxx/asset.usdc` + `textures/`) with no external |
| dependencies. |
| - One representative preview image per asset (`previews/`). |
| - Every asset has a physical graspability tier (`low` / `mid` / `high`, |
| see below) from a unified evaluation. |
| - Single license for the whole package: **CC BY-NC 4.0**. |
|
|
| ## Access status |
|
|
| This repository is currently **private**, shared with a small set of |
| collaborating labs for internal use and feedback. It is planned to |
| later switch to **gated public** access (same repository, same content |
| — no rebuild) once the accompanying paper is ready. Feedback and bug |
| reports from this private phase will be folded in before that switch. |
|
|
| ## License |
|
|
| The whole package (asset selection, deduplication, rescaling, USD |
| conversion, and all authored metadata) is licensed under |
| **CC BY-NC 4.0** — see [`LICENSE`](./LICENSE). |
|
|
| The underlying geometry and textures of individual assets originate |
| from third-party open datasets (RoboCasa, OmniObject3D, Google Scanned |
| Objects, GraspXL, Objaverse, and the YCB Object and Model Set) and |
| remain attributed to their original creators under their own licenses. |
| See [`provenance/third_party_notices.md`](./provenance/third_party_notices.md) |
| for the complete, per-source breakdown and required attribution |
| statements. In short: 651 of 701 assets trace to CC BY 4.0 sources, 20 |
| trace to CC BY-NC 4.0 (GraspXL), and 30 trace to an Objaverse-linked |
| legacy pool whose per-object upstream terms are documented but not all |
| independently re-verified — see the notices file for exact per-source |
| figures and caveats. |
|
|
| ## Grasp quality tiers |
|
|
| Each asset was evaluated with a fixed manipulation policy across **5** |
| independent tabletop layout scenes (one trial per scene, 5 trials per |
| asset, 3,505 trials total over all 701 assets), and camera-validated |
| after the run. The `grasp` field in `spab_objects_v1.json` is a tier |
| derived from the count of successful trials out of 5, **not** a raw |
| success percentage: |
|
|
| | Successes / 5 | Tier | Assets | Share | |
| |---|---|---:|---:| |
| | 0 | `low` | 182 | 26.0% | |
| | 1–2 | `mid` | 440 | 62.8% | |
| | 3–4 | `high` | 79 | 11.3% | |
|
|
| This is a measurement from one evaluation round with one checkpoint and |
| one fixed scene protocol — it reflects physical graspability under that |
| setup, not an immutable property of the object, and should be treated |
| as a difficulty signal rather than a benchmark ground truth. |
|
|
| ## Dependency scope: what's self-contained and what isn't |
|
|
| Every asset ships as exactly two things: `asset.usdc` (one USD crate |
| file holding mesh, UVs, material bindings, and physics API schemas — |
| rigid body, mass, collision — all in one layer) and its `textures/` |
| folder. This is a deliberate, verified-complete package, not a partial |
| one: across all 701 assets there are zero external-layer references and |
| zero absolute paths pointing outside each asset's own directory (every |
| reference is relative and resolves correctly after moving or |
| re-downloading the package anywhere). |
|
|
| The one intentional exception: material shaders reference |
| `OmniPBR.mdl` (or `gltf/pbr.mdl` for some sources) by bare name, which |
| Isaac Sim / NVIDIA Omniverse resolve from their own built-in shader |
| library at runtime — the same way a PDF viewer supplies a font it |
| wasn't shipped with. These are **not** packaged with this dataset. In |
| Isaac Sim, materials render correctly. In a generic USD viewer without |
| that shader library, geometry, UVs, and physics schemas will still load |
| correctly, but the material may fall back to a default/untextured |
| look. |
|
|
| ## Layout |
|
|
| ```text |
| spab_objects_v1.json canonical per-asset metadata (see SCHEMA.md) |
| assets/SPAB-OBJ-xxxxxx/ one self-contained USD asset per directory |
| asset.usdc entry point (crate binary), no external refs |
| textures/ local textures referenced by asset.usdc |
| previews/SPAB-OBJ-xxxxxx.jpg one representative image per asset |
| previews/metadata.jsonl per-image metadata for automatic dataset preview |
| provenance/third_party_notices.md required third-party attribution |
| LICENSE CC BY-NC 4.0 notice for this package |
| SCHEMA.md full field-by-field schema reference |
| files.sha256 checksum manifest for every packaged file |
| tools/verify_release.py standard-library integrity verifier |
| ``` |
|
|
| ## Download and verify |
|
|
| ```bash |
| # download (private repo — requires an invited HF account + token) |
| huggingface-cli download <org>/SpatialAct-Bench-Assets \ |
| --repo-type dataset --local-dir spab_release_v1 |
| |
| # verify checksums and structural integrity |
| cd spab_release_v1 |
| python3 tools/verify_release.py |
| ``` |
|
|
| ## Isaac Sim smoke test |
|
|
| ```python |
| from pxr import Usd, UsdGeom |
| stage = Usd.Stage.Open("assets/SPAB-OBJ-000001/asset.usdc") |
| assert stage.GetDefaultPrim().IsValid() |
| bbox_cache = UsdGeom.BBoxCache(Usd.TimeCode.Default(), [UsdGeom.Tokens.default_]) |
| print(bbox_cache.ComputeWorldBound(stage.GetPseudoRoot()).ComputeAlignedRange()) |
| ``` |
|
|
| Remember to apply `geometry.scale` from `spab_objects_v1.json` via an |
| `xformOp:scale` at spawn time, before physics initialization — it is |
| not baked into the USD file (see `SCHEMA.md`). |
|
|
| ## Schema |
|
|
| See [`SCHEMA.md`](./SCHEMA.md) for the complete field reference and an |
| example record. Two scoring/vocabulary rules apply dataset-wide (see |
| `taxonomy_policy` in `spab_objects_v1.json`): category QA accepts |
| either the basic `category` or the detailed `canonical_class` as |
| correct, while subtype QA requires an exact subtype match; all color |
| labels are drawn from a fixed 8-word palette plus `multicolor`. |
|
|
| ## Citation |
|
|
| TBD — will be added once the accompanying paper has a citable |
| reference. |
|
|
| ## Changelog |
|
|
| - **v1.0** (2026-07-21): Initial private release. 701 assets, unified |
| 5-scene grasp-tier evaluation, de-identified schema, single CC BY-NC |
| 4.0 license. |
|
|
