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3DGS-Mesh Environments for HUGE-Bench
This dataset releases the 3DGS-Mesh digital twin environments for HUGE-Bench.
HUGE_Dataset_v0 contains the full trajectory dataset in LeRobot format, including train, test_seen, and test_unseen splits for all benchmark tasks. This repository contains the 3D assets required for rendering and collision-aware evaluation.
Each archive contains:
data_3d/<env_id>/3dgs_ply/point_cloud_utm50.ply
data_3d/<env_id>/terra_ply/simplified_mesh.obj
Released environments: 1_office, 2_city, 3_road, 4_lake, no1_building, no3_door, overhead_bridge.
SHA256 checksums are provided in SHA256SUMS.txt.
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