raresense/nova-wanderland

Interactive Real-to-Sim Environments for Embodied AI

Nova3D Website · Open Nova Studio

Building on Wanderland's real-world urban captures, we release 20 outdoor simulation environments reconstructed with Nova3D, adding object-level semantics, articulated mechanisms, physical properties, and editable scene programs.

This collection uses Wanderland (Liu et al., CVPR 2026), developed by researchers at NYU’s AI4CE Lab and Cornell University. We thank Xinhao Liu, Jiaqi Li, Prof. Chen Feng, and the Wanderland team for making their captures available.

Nova3D reconstructs these scenes by generating and executing procedural code from Wanderland's released observations. The code defines individual objects and parts, their semantic labels and dimensions, collision geometry, physical properties, and articulated joints. Researchers can edit the code to change scene geometry, layouts, and physical parameters.

The collection includes reconstruction inputs, executable scene source, annotations, PBR assets, and exports for Isaac Sim, MuJoCo, Gazebo, and PyBullet.

The collection covers 14 street and corridor scenes, four open public spaces, and two other outdoor settings: a loading yard and a parking/commercial area.

Each scene used eight original photos and a compressed video assembled from all released images for that capture. These are image sequences rather than original video recordings. Ten scenes also received scan-derived geometry converted to GLB. The supplied inputs and preparation records are included with each scene.

Wanderland captures beside Nova reconstructions

Contributions

Contribution	Included in this release	Research Applications
Object and part decomposition	Individually identified geometry, object inventory and static/movable declarations.	Select, move, replace or remove specific scene components.
Semantic annotations	Part names, semantic classes and instance references linked to generated geometry.	Associate observations and task targets with identified entities.
Spatial annotations	Part bounds, dimensions, positions and scene measurements.	Calculate clearance, object size and spatial relationships.
Articulated mechanisms	Hinged and sliding parts with pivots, axes, travel limits and damping.	Define opening, closing and passage tasks.
Rigid-body and contact physics	Movable bodies, collision geometry, mass, inertia, friction and restitution.	Simulate contact and motion; vary physical parameters systematically.
Executable scene source	Geometry programs and design specifications alongside the assets.	Inspect construction logic and create controlled layout, geometry and mechanism variants.
Native simulator exports	USD, MuJoCo MJCF, Gazebo SDF, PyBullet files and GLB.	Use the reconstruction in different simulator and visualization toolchains.
PBR appearance and enrichment	Textured USD, surface materials and additional scene assets.	Configure appearance and lighting for visual simulation.
Construction records	Generation inputs, source, inventories, physical declarations and file hashes.	Inspect provenance, reproduce configurations and diagnose failures.

Dataset Schema

Scene IDs are the original Wanderland capture identifiers. Paths are relative to the dataset repository.

Column	Meaning
preview_image	Rendered overview embedded in the interactive dataset viewer.
environment	Human-readable description of the scene.
scene_id	Original Wanderland capture ID, preserved exactly. Base and textured variants share it.
textured_usd	Path to the PBR USD entrypoint and associated scene enrichment.
base_glb	Path to the browser-oriented base GLB.
source_code	Full Python scene source. The downloadable file is scenes/<scene_id>/source/asset.py.
isaac_sim_export	✓: native Isaac Sim USD files and their resources are included.
mujoco_export	✓: native MuJoCo MJCF files and their resources are included.
gazebo_export	✓: native Gazebo SDF world/model files and their resources are included.
inputs	Path to the input file list, hashes and original Wanderland capture references.
generation_model	Model used for scene generation: Opus 5.5.
part_count	Number of exported base-scene pieces. Several pieces can belong to one object.
joint_count	Number of base-scene parts declaring hinge, slide or slider motion. One record per joint-bearing part.
parts	Path to full part records, IDs, names and available properties.
articulation	Path to joint-bearing part records, including pivots, axes and motion limits.
measurements	Path to generated geometry bounds and dimensions, in metres.
physics	Path to declared world and body physical parameters.
materials	Path to material resources, attribution and format information.
mujoco_mjcf	Path to the MuJoCo environment XML.
gazebo_sdf	Path to the Gazebo world SDF.
category	Broad setting: street/corridor, open public space or other outdoor.

Download

Install the download library:

pip install huggingface_hub

Download one complete scene, including its textures and dependencies:

from huggingface_hub import snapshot_download

scene_id = "135yCY9mek1lgvxr6K-chsrWBQKLNlWbZ"
folder = snapshot_download(
    repo_id="raresense/nova-wanderland",
    repo_type="dataset",
    revision="main",
    allow_patterns=[f"scenes/{scene_id}/*", "LICENSE", "NOTICE", "CREDITS.md"],
    local_dir="robotics-scene-reconstructions",
)

To download all 20 scenes, omit allow_patterns.

Tool	Open inside scenes/<scene_id>/
Isaac Sim, textured	simulation/environment_pbr.usda
Isaac Sim, base	simulation/environment.usda
MuJoCo	simulation/environment.xml
Gazebo	simulation/world.sdf
PyBullet	simulation/run_pybullet.py
GLB viewer	base/model.glb

Keep each scene folder together to preserve relative texture and mesh paths.

Documentation and attribution

Files · Citation · Credits and licenses

Apache-2.0, with included Poly Haven resources under CC0.

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Nova3D Website · Open Nova Studio