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UrbanVerse-Training-Scenes-Sim-Ready

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Robotics

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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/python3.14/site-packages/datasets/inspect.py", line 286, in get_dataset_config_info
                  for split_generator in builder._split_generators(
                                         ~~~~~~~~~~~~~~~~~~~~~~~~~^
                      StreamingDownloadManager(base_path=builder.base_path, download_config=download_config)
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/webdataset/webdataset.py", line 80, in _split_generators
                  raise ValueError(
                  ...<2 lines>...
                  )
              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 68, in compute_split_names_from_streaming_response
                  for split in get_dataset_split_names(
                               ~~~~~~~~~~~~~~~~~~~~~~~^
                      path=dataset,
                      ^^^^^^^^^^^^^
                      config_name=config,
                      ^^^^^^^^^^^^^^^^^^^
                      token=hf_token,
                      ^^^^^^^^^^^^^^^
                  )
                  ^
                File "/usr/local/lib/python3.14/site-packages/datasets/inspect.py", line 340, in get_dataset_split_names
                  info = get_dataset_config_info(
                      path,
                  ...<6 lines>...
                      **config_kwargs,
                  )
                File "/usr/local/lib/python3.14/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.

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UrbanVerse-Training-Scenes-Sim-Ready

All 375 UrbanVerse-generated training scenes (66 source city walks, 2-64 "cousin" layouts each), upgraded to load correctly in NVIDIA Isaac Sim ≥ 5. The original UrbanVerse-Training-Scenes release contains the first 107 of these (byte-identical apart from the fix below); this repository is the complete set. Same layout, same World0.usd entry point - only the material layers that broke between Isaac Sim 4.5 and 5.x were changed.

Project: UrbanVerse: Scaling Urban Simulation by Watching City-Tour Videos (ICLR 2026) · Code: VAIL-UCLA/UrbanVerse

What changed, and why

The scenes were exported from Isaac Sim 4.5 with ground materials whose inputs:texture_scale was authored as an int while the MDL declares float2.

Isaac Sim 4.5 rejected that value ([UsdToMdl] Tried to assign a 'int'(USD) to a 'float2'(MDL)) and silently fell back to the material's default tile size - that is what the scenes looked like when the paper's policies were trained.
Isaac Sim 5.x rejects it too, but the surface then renders flat black/white: roads, sidewalks and terrain lose their texture.

Every such attribute was re-authored as float2 with the MDL parameter's own default (e.g. Mortar 1.0, Paving_Stones 0.5, Rough_Gravel 2.0), reproducing the 4.5 appearance in 5.x. Attributes that were already a valid float2 were left untouched. Nothing else - geometry, layout, textures, physics - was modified.

Tooling and per-scene provenance (every changed layer with its sha256) live in the code repository: scripts/upgrade_scene_for_isaacsim5.py, scripts/convert_scenes_simready.py, scenes/training_simready_manifest.json.

Layout

One uncompressed tar per scene (375 files instead of ~300k loose ones):

<scene>/scene.tar             e.g. Africa_Egypt_Cairo_walk_02_Cousin_01/scene.tar

extracts in place to

<scene>/
├── World0.usd                # open this
├── .collect.mapping.json
└── SubUSDs/
    ├── *.usd                 # per-object layers
    ├── materials/*.mdl
    └── textures/

mkdir -p Africa_Egypt_Cairo_walk_02_Cousin_01 && tar -xf Africa_Egypt_Cairo_walk_02_Cousin_01/scene.tar -C Africa_Egypt_Cairo_walk_02_Cousin_01

previews/ holds one rendered still per source city walk (Isaac Sim 5.1, after the fix).

Scene names are <continent>_<country>_<city>_<walk|drive>_<seq>_Cousin_<k>; cousins share a source video and differ in layout / assets.

Usage

# Isaac Sim 5.x
isaacsim --exec 'omni.usd.get_context().open_stage("/path/to/<scene>/World0.usd")'

or with the urbanverse-scene toolkit / Isaac Lab's UsdFileCfg.

Citation

@inproceedings{liu2026urbanverse,
  title={UrbanVerse: Scaling Urban Simulation by Watching City-Tour Videos},
  author={Mingxuan Liu and Honglin He and Elisa Ricci and Wayne Wu and Bolei Zhou},
  booktitle={The Fourteenth International Conference on Learning Representations},
  year={2026},
}

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