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| task_categories: |
| - robotics |
| license: cc-by-4.0 |
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| # TableVerse-100K: A Large-Scale Tabletop Dataset with Real-World Grounded Layouts for Generalizable Manipulation |
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| [](https://creativecommons.org/licenses/by/4.0/) |
| [](https://github.com/google-deepmind/mujoco) |
| [](https://huggingface.co/) |
| [](https://huggingface.co/papers/2607.21017) |
| [](https://arxiv.org/abs/2607.21017) |
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| 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. |
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| 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. |
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| > ⚠️ **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. |
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| ## 📁 Repository Structure |
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|
| ```text |
| TableVerse/ |
| ├── textures/ |
| ├── scenes/ |
| │ ├── <scene_uid>/ |
| │ │ ├── assets/ |
| │ │ ├── textures/ |
| │ │ ├── scene.glb |
| │ │ ├── scene.xml |
| │ │ ├── scene_with_plane.xml |
| │ │ └── relabel_name.json |
| │ └── ... |
