---
license: other
license_name: per-upstream-asset-terms
license_link: https://github.com/robotworldai/robotworld/blob/main/docs/ASSETS.md
---

# RobotWorld Assets

Simulation assets for [RobotWorld](https://github.com/robotworldai/robotworld), a benchmark for evaluating multimodal agents across robot embodiments and task families. Container images are distributed separately in [RobotWorld Images](https://huggingface.co/datasets/visity/RobotWorld-Images).

## Access and prerequisites

This repository currently requires access granted by its maintainers. Use an authorised Hugging Face account. On the simulation host, first install the paired code release and restore its pinned sources as described in the code repository's [deployment guide](https://github.com/robotworldai/robotworld/blob/main/docs/DEPLOYMENT.md).

From the code repository root, activate the Python environment and authenticate:

```bash
python -m pip install huggingface_hub
hf auth login
```

Keep credentials in local authentication storage, outside the source tree.

## Download and restore

The code release's `environment/datasets/asset-source.json` pins the asset revision and manifest hash. Use its downloader to select the required resources, verify their checksums, and restore runtime paths:

```bash
# Download one integration and its shared resources.
bash scripts/setup_handoff.sh assets --bench robocasa

# Download all assets included in the paired release.
bash scripts/setup_handoff.sh assets
```

The assets remain under `Assets/` in the code repository. Compatibility links expose them at the paths expected by individual simulators. Restore sources before downloading assets so source restoration cannot remove these links.

For an existing, matching asset export:

```bash
bash scripts/setup_handoff.sh assets --local-source /path/to/asset-export
```

To restore paths from assets already present locally, without downloading files:

```bash
python scripts/restore_assets.py --apply --bench robocasa --include-shared
```

Use the revision recorded by the code release for reproducibility. Updating this README does not change the pinned asset data.

## Repository contents

| Path | Purpose |
| --- | --- |
| `Assets/` | Selected task assets and shared upstream resources. |
| `asset-manifest.json` | File paths, SHA-256 checksums, and sizes used for verification. |
| `asset-layout.json` | Mapping between central asset storage and runtime paths. |
| `sources.lock.json` | Upstream source revisions associated with the export. |

The package excludes BEHAVIOR-1K assets and decryption keys, the removed aerial-balance T04 data, model evaluation results, credentials, container images, and Python environments. BEHAVIOR users must obtain assets through the official agreement and download procedure documented in the code repository.

Some upstream resources may still be unavailable. Inclusion in this archive does not establish that every task has passed physical validation. Consult the integration documentation and validation records for the paired code release.

## Asset terms

Each third-party asset retains its upstream licence and usage restrictions. This repository provides no blanket licence grant or additional redistribution rights. Review the original terms before use or redistribution; access to this repository does not replace any required upstream agreement.