EmbodiVerse-110k

EmbodiVerse-110k is a robotics dataset release containing robot morphology assets, derived graph representations, synthetic graph augmentations, and a small demonstration subset.

This release is organized into two top-level parts:

EmbodiVerse-110k/
├── morphology/
│   ├── raw_urdf/
│   │   ├── Arms/
│   │   ├── Hands/
│   │   ├── Quadrupeds/
│   │   ├── Humanoids/
│   │   └── Hybrids/
│   └── graph/
│       ├── original/
│       └── augmented/
└── demonstrations/
    └── demo_test/
        └── pick_place_counter_to_cabinet/

Morphology data

Raw URDF assets

morphology/raw_urdf/ contains the collected robot descriptions and their associated assets, grouped into five morphology categories. Download caches and nested Git histories used during collection are intentionally excluded.

Original graph representations

morphology/graph/original/ contains graph structures extracted from original robot descriptions. Depending on the robot, entries include node tables, edge tables, and serialized graph objects.

Augmented graph representations

morphology/graph/augmented/ contains the combined pretraining JSONL, schema and statistics documentation, and a manifest. The combined JSONL contains 110,602 graph samples:

• 602 graphs extracted from original URDF assets
• 10,000 synthetic fusion graphs
• 100,000 feature-augmented graphs

Local source paths in the graph release were normalized to repository-relative paths. Graph topology, features, labels, and augmentation parameters were not modified.

Demonstration data

demonstrations/demo_test/pick_place_counter_to_cabinet/ is a small RoboCasa demonstration release for the PickPlaceCounterToCabinet task. It contains 80 collected episodes together with HDF5, LeRobot-style metadata/data, and rendered videos where available.

Some captured environment metadata records asset locations from the collection machine. Users replaying the episodes may need to remap these paths to their local RoboCasa and RoboSuite asset roots.

Download

Download the complete dataset with:

huggingface-cli download yp33/EmbodiVerse-110k \
  --repo-type dataset \
  --local-dir EmbodiVerse-110k

Individual subdirectories can also be selected with allow_patterns through huggingface_hub.snapshot_download.

License and attribution

The derived EmbodiVerse graph data is provided for research use. Raw URDF, mesh, CAD, texture, and simulator assets originate from multiple upstream projects and may use different licenses. Their original license and attribution files are retained where present. Users are responsible for following the applicable upstream terms for each asset.

The demonstration subset depends on RoboCasa and RoboSuite assets and software; their respective licenses and terms also apply.

Release scope

This upload does not include model checkpoints or private training artifacts. Additional demonstrations and supporting metadata may be added in later releases while preserving the directory structure above.