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README.md

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+# SAGE-3D InteriorGS USDZ: USDZ-Format 3D Gaussian Scenes for Isaac Sim
+
+InteriorGS dataset converted to USDZ format for seamless integration with NVIDIA Omniverse and Isaac Sim platforms.
+
+---
+
+## 📢 News
+
+- **2025-12-10**: Released SAGE-3D InteriorGS USDZ dataset with 1,000 converted scenes.
+
+---
+
+## 📋 Overview
+
+While the original [InteriorGS dataset](https://huggingface.co/datasets/spatialverse/InteriorGS) provides high-quality 3D Gaussian Splatting scenes in compressed PLY format, these files are not directly compatible with modern simulation platforms like NVIDIA Isaac Sim and Omniverse. To bridge this gap, we present **SAGE-3D InteriorGS USDZ**, a format-converted version of the entire InteriorGS dataset.
+
+This dataset provides:
+
+- **1,000 indoor scenes** in USDZ format ready for Isaac Sim 5.0+
+- **Photorealistic rendering quality** preserved from original 3DGS data
+- **Direct compatibility** with NVIDIA Omniverse and Isaac Sim
+
+### Conversion Pipeline
+
+The conversion is performed using NVIDIA's [3DGRUT](https://github.com/nv-tlabs/3dgrut) library:
+
+```
+InteriorGS compressed PLY → Decompressed PLY → USDZ (3DGRUT)
+```
+
+The USDZ format uses an extension of the `UsdVolVolume` Schema specifically designed for 3D Gaussian rendering in Isaac Sim, enabling:
+
+**Real-time rendering** - Leverage Isaac Sim's optimized 3DGS renderer  
+**Physics simulation** - Combine with collision meshes for embodied AI  
+**Platform compatibility** - Work with Omniverse ecosystem tools  
+**No format conversion** - Direct import into Isaac Sim workflows
+
+---
+
+## 🗂️ Dataset Structure
+
+```
+InteriorGS_usdz/
+├── 839873.usdz        # Scene in USDZ format
+├── 839874.usdz
+├── 839875.usdz
+└── ...                # 1,000 scenes total
+```
+
+
+
+---
+
+
+
+## 🔗 Related Datasets
+
+This dataset is part of the **SAGE-3D** project:
+
+1. **InteriorGS**: Original 3DGS scenes with semantic annotations  
+   → [spatialverse/InteriorGS](https://huggingface.co/datasets/spatialverse/InteriorGS)
+
+2. **SAGE-3D InteriorGS USDZ** (This dataset): USDZ format for Isaac Sim  
+   → [spatialverse/SAGE-3D_InteriorGS_usdz](https://huggingface.co/datasets/spatialverse/SAGE-3D_InteriorGS_usdz)
+
+3. **SAGE-3D Collision Mesh**: Physics-enabled collision bodies  
+   → [spatialverse/SAGE-3D_Collision_Mesh](https://huggingface.co/datasets/spatialverse/SAGE-3D_Collision_Mesh)
+
+4. **SAGE-3D VLN Data**: Navigation trajectories and instructions  
+   → [spatialverse/SAGE-3D_VLN_Data](https://huggingface.co/datasets/spatialverse/SAGE-3D_VLN_Data) *(Coming soon)*
+
+---
+
+## 📄 License
+
+This dataset is released under CC-BY-NC-4.0.
+
+---
+
+## 🏆 Citation
+
+If you use SAGE-3D InteriorGS USDZ in your research, please cite:
+
+**Our Paper:**
+```bibtex
+@misc{miao2025physicallyexecutable3dgaussian,
+  title={Towards Physically Executable 3D Gaussian for Embodied Navigation}, 
+  author={Bingchen Miao and Rong Wei and Zhiqi Ge and Xiaoquan Sun and Shiqi Gao and Jingzhe Zhu and Renhan Wang and Siliang Tang and Jun Xiao and Rui Tang and Juncheng Li},
+  year={2025},
+  eprint={2510.21307},
+  archivePrefix={arXiv},
+  primaryClass={cs.CV},
+  url={https://arxiv.org/abs/2510.21307}, 
+}
+```
+
+**InteriorGS Dataset:**
+```bibtex
+@misc{InteriorGS2025,
+  title        = {InteriorGS: A 3D Gaussian Splatting Dataset of Semantically Labeled Indoor Scenes},
+  author       = {SpatialVerse Research Team, Manycore Tech Inc.},
+  year         = {2025},
+  howpublished = {\url{https://huggingface.co/datasets/spatialverse/InteriorGS}}
+}
+```
+
+**3DGRUT Conversion Tool:**
+```bibtex
+@article{wu20253dgut,
+  title={3DGUT: Enabling Distorted Cameras and Secondary Rays in Gaussian Splatting},
+  author={Wu, Qi and Martinez Esturo, Janick and Mirzaei, Ashkan and Moenne-Loccoz, Nicolas and Gojcic, Zan},
+  journal={Conference on Computer Vision and Pattern Recognition (CVPR)},
+  year={2025}
+}
+```
+
+---
+
+## 🤝 Acknowledgments
+
+Format conversion was performed using NVIDIA's [3DGRUT library](https://github.com/nv-tlabs/3dgrut). We thank the NVIDIA Toronto AI Lab for developing and open-sourcing this excellent tool.
+
+---
+
+
+<div align="center">
+  <strong>SAGE-3D: Semantically and Physically-Aligned Gaussian Environments for 3D Navigation</strong>
+  <br>
+  Making 3D Gaussian Splatting Physically Executable
+</div>