task_categories:
- robotics
license: cc-by-4.0
TableVerse-100K: A Large-Scale Tabletop Dataset with Real-World Grounded Layouts for Generalizable Manipulation
TableVerse-100K is an unprecedented, massive-scale Real2Sim tabletop dataset constructed directly from unstructured, in-the-wild single internet frames. By replacing traditional probabilistic hallucinations with a deterministic perception-to-physics workflow (featuring Layout-Consistent Collision Rectification, LCCR), TableVerse bridges the reality gap to deliver physically consistent, simulation-ready digital twins.
The dataset comprises 100K unique tabletop environments, nearly 1M distinct object instances spanning over 35K semantic categories, completely annotated with multi-dimensional physical properties and paired with continuous, collision-free expert manipulation trajectories.
⚠️ Data Limitation & Disclaimer: Please note that because TableVerse-100K is generated through a fully automated, end-to-end Real-to-Sim pipeline to achieve unprecedented scale, the dataset is inherently not perfect and contains geometric artifacts or semantic misalignments in some long-tail scenarios.
📁 Repository Structure
TableVerse/
├── textures/
├── scenes/
│ ├── <scene_uid>/
│ │ ├── assets/
│ │ ├── textures/
│ │ ├── scene.glb
│ │ ├── scene.xml
│ │ ├── scene_with_plane.xml
│ │ └── relabel_name.json
│ └── ...