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REAL-Data

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embodied-ai
robotics
simulation
usd
grscenes
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metadata 
pretty_name: REAL Data
license: cc-by-nc-sa-4.0
tags:
  - embodied-ai
  - robotics
  - simulation
  - usd
  - grscenes

REAL Data

This dataset release contains the seven experiment-specific, processed GRScenes stages used by REAL. These are not the original same-named GRScenes stages. The scene dependency closure was exported with InternUtopia's toolkits/grscenes_scripts/export_scenes.py, localized, pruned, and verified.

Download

The scene data is distributed as one all-in-one scene bundle:

  • data/REAL-Data.tar.zst
  • compressed size: 3.918 GB (3.649 GiB)
  • SHA256: dab362cdeb23a01c192ae4a0a5a87d6c00aad99e023f5d7dd15d4831c2a6f96f

README.md, LICENSE.md, manifest.json, and the checksum files remain outside the archive as well so they can be inspected before downloading it.

hf download InternRobotics/REAL-Data \
  data/REAL-Data.tar.zst \
  data/REAL-Data.tar.zst.sha256 \
  --repo-type dataset \
  --local-dir .

cd data
sha256sum -c REAL-Data.tar.zst.sha256
tar -I zstd -xf REAL-Data.tar.zst

The archive extracts into a single top-level directory:

REAL-Data/
├── scenes/
├── models/
├── Materials/
├── metadata/
├── manifest.json
├── SHA256SUMS
├── DATASET_CARD.md
├── LICENSE_DATA.md
└── mesa_required.txt

Included scenes

  • MV7J6NIKTKJZ2AABAAAAAEI8
  • MVUCSQAKTKJ5EAABAAAAAAI8
  • MVUCSQAKTKJ5EAABAAAAAAQ8
  • MVUCSQAKTKJ5EAABAAAAABA8
  • MVUCSQAKTKJ5EAABAAAAABQ8
  • MVUCSQAKTKJ5EAABAAAAABY8
  • MVUCSQAKTKJ5EAABAAAAACA8

Each scene entry point is scenes/<scene_id>_usd/scene.usd.

Included data

  • seven processed scene entry points;
  • the complete referenced scene model/material/texture/MDL closure;
  • occupancy maps and per-scene furniture libraries;
  • processed task-generator metadata, including MesaTask raw-ID to USD-valid-ID correspondence through each entry's original_uid and valid top-level key;
  • provenance manifest and per-file SHA256 checksums.

External requirement

MesaTask object USD payloads are not redistributed. The two objects required by the default demo are listed in mesa_required.txt; obtain MesaTask-10K separately and configure MESATASK_USD_ROOT in REAL.

Integrity and provenance

The exported payload contains no symlinks, unresolved/external USD dependencies, or private cluster paths. See manifest.json for scene fingerprints, exporter provenance, dependency counts, and validation results. After extraction, verify all payload files with:

cd REAL-Data
sha256sum -c SHA256SUMS

License and attribution

This is a derived data artifact. The REAL code repository's MIT license does not replace the data terms. GRScenes and associated released metadata follow CC BY-NC-SA 4.0. Preserve attribution, non-commercial restrictions, and share-alike requirements.