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TableVerse
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---
task_categories:
- robotics
license: cc-by-4.0
---

# TableVerse-100K: A Large-Scale Tabletop Dataset with Real-World Grounded Layouts for Generalizable Manipulation

[![License: CC BY 4.0](https://img.shields.io/badge/License-CC%20BY%204.0-lightgrey.svg)](https://creativecommons.org/licenses/by/4.0/)
[![MuJoCo](https://img.shields.io/badge/physics-MuJoCo-orange.svg)](https://github.com/google-deepmind/mujoco)
[![Dataset on HuggingFace](https://img.shields.io/badge/%F0%9F%A4%97%20Hugging%20Face-Dataset-yellow)](https://huggingface.co/)
[![Paper](https://img.shields.io/badge/Paper-Hugging%20Face-yellow?logo=huggingface)](https://huggingface.co/papers/2607.21017)
[![arXiv](https://img.shields.io/badge/arXiv-2607.21017-b31b1b?logo=arxiv)](https://arxiv.org/abs/2607.21017)

TableVerse-100K is an unprecedented, massive-scale Real2Sim tabletop dataset constructed directly from unstructured, in-the-wild single internet frames. By replacing traditional probabilistic hallucinations with a deterministic perception-to-physics workflow (featuring Layout-Consistent Collision Rectification, LCCR), TableVerse bridges the reality gap to deliver physically consistent, simulation-ready digital twins. 

The dataset comprises **100K unique tabletop environments**, nearly **1M distinct object instances** spanning over **35K semantic categories**, completely annotated with multi-dimensional physical properties and paired with continuous, collision-free expert manipulation trajectories.

> ⚠️ **Data Limitation & Disclaimer:** Please note that because TableVerse-100K is generated through a fully automated, end-to-end Real-to-Sim pipeline to achieve unprecedented scale, the dataset is inherently not perfect and contains geometric artifacts or semantic misalignments in some long-tail scenarios.

---

## 📁 Repository Structure

```text
TableVerse/
├── textures/
├── scenes/
│   ├── <scene_uid>/
│   │   ├── assets/
│   │   ├── textures/
│   │   ├── scene.glb
│   │   ├── scene.xml
│   │   ├── scene_with_plane.xml
│   │   └── relabel_name.json
│   └── ...