README.md

metadata

license: other
pretty_name: InsightBench Assets v0.1
tags:
  - robotics
  - simulation
  - isaac-sim
  - manipulation
  - benchmark

InsightBench Assets v0.1

This dataset repository hosts the public asset archive for InsightBench, a robot manipulation benchmark with visual guide-conditioned tasks.

Primary archive:

• InsightBench-Assets-v0.1.tar.gz
• InsightBench-Assets-v0.1.tar.gz.sha256

Google Drive mirror:

https://drive.google.com/drive/folders/1ut90XWm8BaQhdlbxyp03wzSVSYNtpVmc

Download

huggingface-cli download paragon7060/InsightBench-Assets-v0.1 \
  --repo-type dataset \
  --include "InsightBench-Assets-v0.1.tar.gz" "InsightBench-Assets-v0.1.tar.gz.sha256" \
  --local-dir .

Verify and extract from the InsightBench repository root:

sha256sum -c InsightBench-Assets-v0.1.tar.gz.sha256
mkdir -p Assets
tar -xzf InsightBench-Assets-v0.1.tar.gz -C Assets

Expected archive SHA256:

7bbd3ef59131a0322e8041be776e9c1356426b720946d77212c8f9ff396823e1

Extracted Layout

The archive is extracted into the existing Assets/ directory; the runtime consumer root is therefore Assets/.

Assets/
  TestSuite/
    cabinet_suite/
    door_suite/
    bottle_suite/
  TrainSuite/
    cabinet_suite/
    door_suite/
    bottle_suite/
  guides/
  FrankaEmika/
  franka_description/
  MANIFEST.json
  ASSET_LICENSES.md
  README.md

Asset Counts

• TestSuite/cabinet_suite: 6 assets
• TestSuite/door_suite: 9 assets
• TestSuite/bottle_suite: 10 assets
• TrainSuite/cabinet_suite: 249 assets
• TrainSuite/door_suite: 47 assets
• TrainSuite/bottle_suite: 32 assets

The public bundle excludes these known problematic evaluation assets:

• TestSuite/cabinet_suite/45194
• TestSuite/door_suite/99655089960011l

Metadata

• MANIFEST.json records source-to-target mapping, required-file checks, counts, exclusions, and bundle decisions.
• ASSET_LICENSES.md records source dataset attribution and license notes.

Asset Patch (2026-07-18)

• Normalized TestSuite/cabinet_suite/34178/mobility_new.usd so the fully closed pose is joint zero (joint_2 range approximately 0 to 1.64619 rad).
• Added guides/arrows/guide_arrow_visual.usd for guide arrows parented under moving cabinet links without nested rigid-body schemas.

License And Attribution

InsightBench code is licensed separately in the code repository. Simulation assets are subject to the licenses and redistribution terms of their respective sources, including PartManip, AdaManip, Franka assets, and generated guide assets. See ASSET_LICENSES.md inside the archive for details.