Datasets:

JoeyYuzy
/

humanoidBench

License:

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Split (1)

validation

The dataset viewer is not available for this split.

Cannot load the dataset split (in streaming mode) to extract the first rows.

Error code:   StreamingRowsError
Exception:    CastError
Message:      Couldn't cast
asset: string
collection: string
structural_validation_passed: bool
coverage_structural_validation_passed: bool
source_only_visuals_verified: bool
diagnostic_usd_only: bool
baseline_collection: string
baseline_artifact_sha256: struct<ARC_B2.usd: string, cvpr_door_behavior.py: string, cvpr_door_runtime.py: string, navigation_f (... 241 chars omitted)
  child 0, ARC_B2.usd: string
  child 1, cvpr_door_behavior.py: string
  child 2, cvpr_door_runtime.py: string
  child 3, navigation_floor.usda: string
  child 4, parts/elevator_left_leaf.usdc: string
  child 5, parts/elevator_right_leaf.usdc: string
  child 6, parts/glass_access_01_leaf.usdc: string
  child 7, parts/glass_access_02_leaf.usdc: string
  child 8, parts/glass_access_03_leaf.usdc: string
  child 9, static.usdc: string
original_source_point_count: int64
added_source_cloned_point_count: int64
total_particle_count: int64
original_fields: list<item: struct<path: string, original_points: int64, documented_opacity_changes: int64, positions (... 58 chars omitted)
  child 0, item: struct<path: string, original_points: int64, documented_opacity_changes: int64, positions_quaternion (... 46 chars omitted)
      child 0, path: string
      child 1, original_points: int64
      child 2, documented_opacity_changes: int64
      child 3, positions_quaternions_scales_dc_and_all_higher_sh_identical: bool
new_source_cloned_fields: list<item: null>
  child 0, item: null
documented_opacity_override_fields: list<item: string>
  child 0, it
...
hars omitted)
  child 0, ARC_B2.usd: string
  child 1, cvpr_door_behavior.py: string
  child 2, cvpr_door_runtime.py: string
  child 3, navigation_floor.usda: string
  child 4, parts/elevator_left_leaf.usdc: string
  child 5, parts/elevator_right_leaf.usdc: string
  child 6, parts/glass_access_01_leaf.usdc: string
  child 7, parts/glass_access_02_leaf.usdc: string
  child 8, parts/glass_access_03_leaf.usdc: string
  child 9, static.usdc: string
  child 10, textures/context/facade_source_backing_0.png: string
  child 11, textures/context/facade_source_backing_1.png: string
  child 12, textures/context/facade_source_backing_2.png: string
  child 13, textures/context/facade_source_backing_3.png: string
  child 14, textures/elevator/steel_donor_left.png: string
  child 15, textures/elevator/steel_donor_right.png: string
door_count: int64
turning_handle_count: int64
native_physics_accepted_here: bool
visual_quality_accepted_here: bool
limitations: list<item: string>
  child 0, item: string
flat_floor_validated: bool
physics_passed: bool
runtime_shader_dependencies: list<item: string>
  child 0, item: string
native_gaussian_schema: bool
usd_units_meters: bool
collision_meshes: int64
same_view_before_after_checked: bool
source_gaussian_count_preserved: bool
passed: bool
stage_up_axis: string
standalone_geometry_no_usd_references: bool
four_images_resolution: list<item: int64>
  child 0, item: int64
concave_static_collisions: bool
runtime_shader_note: string
appearance_review: string
to
{'passed': Value('bool'), 'source_gaussian_count_preserved': Value('bool'), 'native_gaussian_schema': Value('bool'), 'usd_units_meters': Value('bool'), 'stage_up_axis': Value('string'), 'standalone_geometry_no_usd_references': Value('bool'), 'collision_meshes': Value('int64'), 'concave_static_collisions': Value('bool'), 'flat_floor_validated': Value('bool'), 'physics_passed': Value('bool'), 'four_images_resolution': List(Value('int64')), 'runtime_shader_dependencies': List(Value('string')), 'appearance_review': Value('string'), 'same_view_before_after_checked': Value('bool'), 'runtime_shader_note': Value('string')}
because column names don't match
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 544, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 3052, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2559, in __iter__
                  for key, pa_table in self._iter_arrow():
                                       ~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2584, in _iter_arrow
                  for key, pa_table in self.ex_iterable._iter_arrow():
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 558, in _iter_arrow
                  for key, pa_table in iterator:
                                       ^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 440, in _iter_arrow
                  for key, pa_table in self.generate_tables_fn(**gen_kwags):
                                       ~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 361, in _generate_tables
                  self._cast_table(pa_table, json_field_paths=json_field_paths),
                  ~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
                  pa_table = table_cast(pa_table, self.info.features.arrow_schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2381, in table_cast
                  return cast_table_to_schema(table, schema)
                File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2309, in cast_table_to_schema
                  raise CastError(
                  ...<3 lines>...
                  )
              datasets.table.CastError: Couldn't cast
              asset: string
              collection: string
              structural_validation_passed: bool
              coverage_structural_validation_passed: bool
              source_only_visuals_verified: bool
              diagnostic_usd_only: bool
              baseline_collection: string
              baseline_artifact_sha256: struct<ARC_B2.usd: string, cvpr_door_behavior.py: string, cvpr_door_runtime.py: string, navigation_f (... 241 chars omitted)
                child 0, ARC_B2.usd: string
                child 1, cvpr_door_behavior.py: string
                child 2, cvpr_door_runtime.py: string
                child 3, navigation_floor.usda: string
                child 4, parts/elevator_left_leaf.usdc: string
                child 5, parts/elevator_right_leaf.usdc: string
                child 6, parts/glass_access_01_leaf.usdc: string
                child 7, parts/glass_access_02_leaf.usdc: string
                child 8, parts/glass_access_03_leaf.usdc: string
                child 9, static.usdc: string
              original_source_point_count: int64
              added_source_cloned_point_count: int64
              total_particle_count: int64
              original_fields: list<item: struct<path: string, original_points: int64, documented_opacity_changes: int64, positions (... 58 chars omitted)
                child 0, item: struct<path: string, original_points: int64, documented_opacity_changes: int64, positions_quaternion (... 46 chars omitted)
                    child 0, path: string
                    child 1, original_points: int64
                    child 2, documented_opacity_changes: int64
                    child 3, positions_quaternions_scales_dc_and_all_higher_sh_identical: bool
              new_source_cloned_fields: list<item: null>
                child 0, item: null
              documented_opacity_override_fields: list<item: string>
                child 0, it
              ...
              hars omitted)
                child 0, ARC_B2.usd: string
                child 1, cvpr_door_behavior.py: string
                child 2, cvpr_door_runtime.py: string
                child 3, navigation_floor.usda: string
                child 4, parts/elevator_left_leaf.usdc: string
                child 5, parts/elevator_right_leaf.usdc: string
                child 6, parts/glass_access_01_leaf.usdc: string
                child 7, parts/glass_access_02_leaf.usdc: string
                child 8, parts/glass_access_03_leaf.usdc: string
                child 9, static.usdc: string
                child 10, textures/context/facade_source_backing_0.png: string
                child 11, textures/context/facade_source_backing_1.png: string
                child 12, textures/context/facade_source_backing_2.png: string
                child 13, textures/context/facade_source_backing_3.png: string
                child 14, textures/elevator/steel_donor_left.png: string
                child 15, textures/elevator/steel_donor_right.png: string
              door_count: int64
              turning_handle_count: int64
              native_physics_accepted_here: bool
              visual_quality_accepted_here: bool
              limitations: list<item: string>
                child 0, item: string
              flat_floor_validated: bool
              physics_passed: bool
              runtime_shader_dependencies: list<item: string>
                child 0, item: string
              native_gaussian_schema: bool
              usd_units_meters: bool
              collision_meshes: int64
              same_view_before_after_checked: bool
              source_gaussian_count_preserved: bool
              passed: bool
              stage_up_axis: string
              standalone_geometry_no_usd_references: bool
              four_images_resolution: list<item: int64>
                child 0, item: int64
              concave_static_collisions: bool
              runtime_shader_note: string
              appearance_review: string
              to
              {'passed': Value('bool'), 'source_gaussian_count_preserved': Value('bool'), 'native_gaussian_schema': Value('bool'), 'usd_units_meters': Value('bool'), 'stage_up_axis': Value('string'), 'standalone_geometry_no_usd_references': Value('bool'), 'collision_meshes': Value('int64'), 'concave_static_collisions': Value('bool'), 'flat_floor_validated': Value('bool'), 'physics_passed': Value('bool'), 'four_images_resolution': List(Value('int64')), 'runtime_shader_dependencies': List(Value('string')), 'appearance_review': Value('string'), 'same_view_before_after_checked': Value('bool'), 'runtime_shader_note': Value('string')}
              because column names don't match

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HumanoidBench contextual coverage repairs

Kosmo v1: interactive seating, handle door and home_1 environment collisions

The added Kosmo v1 collection contains three Gaussian environments: entertainmentroom (5 movable chairs), restaurant (10 chairs and a baby highchair), and home_1 (9 chairs, a stool and a handle-gated bathroom door). Floors have been leveled. The current home_1 V9 also includes whole-home static concave collisions for scanned walls, ceiling, fixed furniture and fixtures, with PhysX contact and interaction regression checks. The accepted home_1 V8 handle uses scan-fitted reflective brushed-metal PBR meshes while the door and environment retain Gaussian appearance.

The collection includes final/initial USD files, original PLY and segmented assets, control scripts, textures, provenance and videos. Accepted metal-handle appearance video · home_1 asset and startup · home_1 collision physics report · release manifest.

Current release: cvpr/coverage_repaired/. It contains 11 Gaussian USD/USDZ scenes, 21 source-confirmed architectural door leaves and 9 observed handle mechanisms.

This is an approximate source-context coverage repair, not a recovery of missing real outside scenery. The retained source_interactive baseline geometry, quaternion/covariance, point colors and higher spherical harmonics remain unchanged by these coverage repairs. Documented opacity overrides improve weak coverage or transfer observed handle kernels into a moving part without duplicate rendering; original values/indices are retained. Documented ground continuation reuses the same captured surface material. Office adds1,259,018 translated copies of neighboring source asphalt Gaussians, with DC gain/contrast calibration restricted to the added copies; original source fields remain unchanged. Roomtour reuses original native terrace-floor pixels on an explicitly inferred bounded planar continuation, with source-measured grout direction/spacing and disclosed repetition. Neither operation recovers missing true surface detail. Elevator steel reuses actual pixels from its own lower panels. Basic recesses, planar glass backings and the missing terrace railing continuation are explicitly inferred from surviving source boundaries. Backing textures come from same-scene source reflection captures with restrained source-matched ambient mixing. A far neutral ambient shell uses recorded source-like colors; it contains no photographed or invented outside objects. These additions are disclosed per asset, with hashes and provenance.

Recognizable source furniture, signs, safety markings, dark mirrors and legitimate reflections are preserved. True black mirror/material regions are not automatically classified as holes. Lost high-frequency detail, missing room/cabin backs and unknown exterior architecture remain uncertain. Source-context repairs must not be treated as ground-truth reconstruction geometry or relightable PBR assets. The two conference wood fronts and both Bookstore white fronts preserve native source-pixel projections. Their unobserved rear faces are explicitly inferred plain-material continuations, using captured bare wood crops for Conferencehall and source-paint medians for Bookstore. No rear hardware, lettering or panel ornament is invented. Bookstore’s passive hinge and width were corrected to the actual captured outer jamb. Its3,848 omitted outer-leaf samples are preserved through exact source copies with original duplicate-alpha proofs, so the complete printed leaf moves together.

Doors and navigation

Use Isaac Sim6 / Kit110+ with native ParticleField3DGaussianSplat and PhysX. Download the entire collection and run:

/path/to/isaacsim/python.sh open_scene.py ASSET

The launcher installs the bundled controller before reset/play. Loading USD/USDZ alone does not execute Python latch logic. Turn an observed handle, then push/pull its door; closing relatches it. Observed pull bars retain their captured shape while using a turning latch interaction. Door geometry/physics wiring is compared with the immutable source_interactive baseline, with separately proven exceptions for the newly confirmed source lever in Roomtour and the source-jamb correction of Bookstore’s passive leaf; fresh actual-scene PhysX tests are required. Office paired doors use the bundled ordered Open pair / Close pair controller.

Each scene retains an independent horizontal static navigation collider at worldZ=0. Visible floors, curbs and source reflections can look uneven; documented source-material extensions fill bounded scan gaps. Moving doors/handles have collision proxies. Other furniture, inferred background/basic surfaces and most walls do not have obstacle colliders. No complete humanoid navigation policy is claimed validated.

Evidence and assets

Each asset includes coverage-specific structural/source validation, fresh native physics results,9 native review views, per-door closed/open review, and repair provenance. Validation separates retained source points from declared source-material extensions and checks native image/UV provenance where source floor pixels are reused. Render/test hashes bind the current root stage and all layers/textures; stale source-only reviews cannot satisfy the release gate.

ARC_B2 USDZ · native views · repair report
ATMRI USDZ · native views · repair report
bookstore USDZ · native views · repair report
conferencehall USDZ · native views · repair report
office USDZ · native views · repair report
penthouse1 USDZ · native views · repair report
penthouse2 USDZ · native views · repair report
penthouse3 USDZ · native views · repair report
room2 USDZ · native views · repair report
roomtour USDZ · native views · repair report
sculpture USDZ · native views · repair report

Underlying capture ownership/licensing was not supplied. Hosting does not grant rights to third-party source content. The previous source_interactive prefix is removed from the current branch only after every new upload has been verified; repository history and local originals remain.