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Datasets:
kyounginbaik
/
SimVLA-assets

Tasks:
Robotics
Tags:
isaac-sim
mobile-manipulation
simvla
robot-assets
License:
Dataset card Files
xet
 Community
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/python3.14/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.

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.

SimVLA simulator asset bundle

This dataset repository distributes the external simulator assets needed by the tested SimVLA three-robot kitchen setup. It is intentionally separate from the source repository and is not a dataset of demonstrations, trained weights, or policy checkpoints.

Integrity and provenance

Download simvla-assets.tar.zst and verify this exact SHA-256 before extraction:

b4661b95c99f0212c8770e12e01099f7ac7dbe8b2565b7eb9e88f2b7f2c28fb8

The archive is 633,215,795 bytes and expands to 4,472,738,159 bytes across 21,228 files. Its BUNDLE-MANIFEST.json records source revisions and SHA-256/size/mode for every archived file. The inputs are pinned to SimVLA source revision db77160323852abf59527f17efdf02b767181a5f and RB-Y1 source revision a3274bb2cba307cc114108479eac6d55fc9557cf. RB-Y1's generated root USD has been normalized to a relative reference so the archive does not depend on its original workstation path.

Download and configure

From a SimVLA source checkout, download the archive, verify it, and extract it outside the checkout:

curl -L https://huggingface.co/datasets/kyounginbaik/SimVLA-assets/resolve/e7ea01d56d00b70afd05a45bca21460cf7389589/simvla-assets.tar.zst \
  -o /tmp/simvla-assets.tar.zst
echo 'b4661b95c99f0212c8770e12e01099f7ac7dbe8b2565b7eb9e88f2b7f2c28fb8  /tmp/simvla-assets.tar.zst' \
  | sha256sum -c -
mkdir -p external/simvla-assets
tar --zstd -xf /tmp/simvla-assets.tar.zst -C external/simvla-assets
python scripts/tools/verify_asset_bundle.py external/simvla-assets
export SIMVLA_REPO_ROOT="$PWD"
export SIMVLA_ASSETS_DIR="$PWD/external/simvla-assets/assets"
export SIMVLA_ROBOT_MODELS_DIR="$PWD/external/simvla-assets/models"
export SIMVLA_RBY1M_DIR="$PWD/external/simvla-assets/rby1m"

See the SimVLA docs/installation.md and docs/asset-provenance.md for simulator setup, asset terms, and validation boundaries. The separately downloadable BODex mesh/grasp subset remains required for placement/collection tasks that use object grasps.

Asset terms

The SimVLA maintainer has authorized publication of project-controlled assets in this bundle. That authorization does not replace third-party licenses or vendor terms. In particular, the Rainbow Robotics SDK material retains Apache-2.0 terms; NVIDIA Omniverse/Isaac Sim content remains subject to NVIDIA's terms. Review ASSET-README.md, notices within the archive, and upstream terms before using or redistributing individual assets. This repository uses license: other because a single open-source license does not cover every binary asset here. A compatible Isaac Sim installation and any required account/license acceptance are the user's responsibility.
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