| --- |
| 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. |
|
|
| ```bash |
| 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: |
|
|
| ```text |
| 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: |
|
|
| ```bash |
| 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. |
|
|
| - Upstream GRScenes: https://huggingface.co/datasets/InternRobotics/GRScenes |
| - MesaTask-10K (downloaded separately): https://huggingface.co/datasets/InternRobotics/MesaTask-10K |
|
|
