Datasets:

nepfaff
/

scenesmith-preprocessed-data

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Dataset Viewer

The dataset viewer is not available for this subset.

Cannot get the split names for the config 'default' of the dataset.

Exception:    SplitsNotFoundError
Message:      The split names could not be parsed from the dataset config.
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
                  for split_generator in builder._split_generators(
                                         ^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 82, in _split_generators
                  raise ValueError(
              ValueError: The TAR archives of the dataset should be in WebDataset format, but the files in the archive don't share the same prefix or the same types.
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/split_names.py", line 65, in compute_split_names_from_streaming_response
                  for split in get_dataset_split_names(
                               ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
                  info = get_dataset_config_info(
                         ^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 291, in get_dataset_config_info
                  raise SplitsNotFoundError("The split names could not be parsed from the dataset config.") from err
              datasets.inspect.SplitsNotFoundError: The split names could not be parsed from the dataset config.

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

SceneSmith Preprocessed Data

Preprocessed 3D assets for use with SceneSmith, a VLM-agent-based system for generating physically realistic, interactive indoor scenes.

ArtVIP (Articulated Objects)

Simulation-ready articulated objects (cabinets, drawers, appliances, etc.) converted from the ArtVIP dataset. Assets have been converted from USD to Drake SDFormat using mesh-to-sim-asset, with:

Drake SDFormat (.sdf) model files with articulated joints
Visual meshes in glTF and OBJ formats
Collision geometries via convex decomposition (two variants available)
Estimated physical properties (mass, inertia per link)
Pre-computed CLIP embeddings for text-based retrieval

Variants

Archive	Collision Method	Description
`artvip/artvip_vhacd.tar.gz`	VHACD	Tighter collision geometries (recommended)
`artvip/artvip_coacd.tar.gz`	CoACD	Can produce faster simulations

Both variants include identical CLIP embeddings for retrieval.

Usage with SceneSmith

Download your preferred variant and extract to data/artvip_sdf/:

# Download VHACD variant (recommended)
huggingface-cli download nepfaff/scenesmith-preprocessed-data \
    artvip/artvip_vhacd.tar.gz --repo-type dataset --local-dir .
mkdir -p data/artvip_sdf
tar xzf artvip/artvip_vhacd.tar.gz -C data/artvip_sdf
rm -rf artvip

# Or download CoACD variant
huggingface-cli download nepfaff/scenesmith-preprocessed-data \
    artvip/artvip_coacd.tar.gz --repo-type dataset --local-dir .
mkdir -p data/artvip_sdf
tar xzf artvip/artvip_coacd.tar.gz -C data/artvip_sdf
rm -rf artvip

Asset Categories

Category	Description
`large_furniture/`	Cupboards, wardrobes, etc.
`small_furniture/`	Nightstands, side tables, etc.
`major_appliances/`	Refrigerators, washing machines, etc.
`small_appliances/`	Microwaves, toasters, etc.
`household_items/`	Storage boxes, bins, etc.

Manual Preprocessing

To preprocess ArtVIP assets yourself (or to process updated versions), use mesh-to-sim-asset to convert from USD to Drake SDFormat.

AmbientCG Material Embeddings

Pre-computed CLIP embeddings for AmbientCG PBR materials, enabling text-based material retrieval for walls, floors, and surfaces.

The embeddings are computed from AmbientCG preview images using CLIP (ViT-H-14-378-quickgelu, 1024D).

Note: You still need to download the actual material textures from AmbientCG separately (see SceneSmith README). This dataset only contains the pre-computed embeddings to skip the computation step.

Usage with SceneSmith

huggingface-cli download nepfaff/scenesmith-preprocessed-data \
    --repo-type dataset \
    --include "ambientcg/embeddings/**" \
    --local-dir data/scenesmith-preprocessed-data
mv data/scenesmith-preprocessed-data/ambientcg/embeddings data/materials/embeddings
rm -rf data/scenesmith-preprocessed-data

Attribution

The articulated object assets are derived from the ArtVIP dataset, licensed under the Apache License 2.0.

Zhao Jin, Zhengping Che, Tao Li, Zhen Zhao, Kun Wu, Yuheng Zhang, Yinuo Zhao, Zehui Liu, Qiang Zhang, Xiaozhu Ju, Jing Tian, Yousong Xue, Jian Tang. ArtVIP: Articulated Digital Assets of Visual Realism, Modular Interaction, and Physical Fidelity for Robot Learning. 2025.

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