---
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