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📖 UrbanVese Documentation (Fully Anonymous)

  • Isaac Lab
  • Isaac Sim
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User Pipeline Overview

  • User Workflow Guide

Installation

  • Installation via Pre-Built Binaries
  • UrbanVerse-100K Asset Caching
  • UrbanVerse Scene Caching
  • Installation Verification

Gallery

  • Scenes with Dynamic Agents
  • Mobile Manipulators
  • Demo VR Interaction in UrbanVerse
  • UrbanVerse-100K Gallery
  • UrbanVerse-Gen Gallery
  • UrbanVerse-160 Scenes Gallery
  • CraftBench Gallery
  • Real-World Long-Horizon Navigation
  • Real-World Side-by-Side Comparisons
  • YouTube Video Collection

Quickstart Guide

  • Use UrbanVerse-100K with APIs
  • Real-to-Sim Scene Generation with UrbanVerse-Gen
  • Use Built-in UrbanVerse Scenes
  • Use Built-in CraftBench Scenes
  • Train Your Robots in UrbanVerse
  • Test Your Robots on CraftBench

Robot Learning with UrbanVerse

  • Simulation Paradigms
  • General Configurations
  • Robot Configurations
  • Reinforcement Learning in UrbanVerse
    • Working with Urban Scenes
    • Defining Robot Actions
    • What Your Policy Sees: Observations
    • Designing the Reward Function
    • When Episodes End: Termination Conditions
    • Progressive Learning: Curriculum Strategies
    • Environment Events and Initialization
  • Imitation Learning in UrbanVerse
    • Introduction to Imitation Learning
    • Collecting Expert Demonstrations
    • Demonstration Dataset Format
    • BC Training Configuration
    • UrbanVerse IL APIs
    • End-to-End Example
    • Evaluating BC Policies
    • Best Practices and Tips

Developer Guide (Advanced)

  • Collecting Data in UrbanVerse
  • VR Teleoperation Interfaces
  • Real-world Deployment: Unitree Go2 Quadruped Example
  • Adding New Assets to UrbanVerse-100K
  • Adding New Robots to UrbanVerse

API Reference

  • UrbanVerse-100K API
  • UrbanVerse-Gen API
  • Navigation Reinforcement Learning API
  • Navigation Imitation Learning API
  • Assets API
  • Teleoperation API
  • Configuration API

UrbanVerse Community

  • Coding Standards
  • Contributing to UrbanVerse
  • Bug Reports
  • Communication Channels

References

  • License
  • Third-Party Licenses

UrbanVerse-100K Gallery

Contents

  • Object Assets Walkthrough
  • Example of Per-object Annotation
  • Examples of Object Diversities
    • Urban Barriers
    • Urban Street Objects
    • Urban Vehicles
    • Urban Structures
  • Object Category Distribution
  • Examples of Road PBRs
  • Examples of Sidewalk PBRs
  • Examples of Sky HDRIs

UrbanVerse-100K Gallery#

This gallery showcases examples from the UrbanVerse-100K dataset. For detailed usage instructions, see Use UrbanVerse-100K with APIs.

Object Assets Walkthrough#

Example of Per-object Annotation#

Example of Per-object Annotation

Examples of Object Diversities#

Here, we provide diverse object examples for few categories in UrbanVerse-100K.

Urban Barriers#

Example of urban barriers

Urban Street Objects#

Example of street objects

Urban Vehicles#

Example of vehicles

Urban Structures#

Example of structures

Object Category Distribution#

Interactive Features: Click on any segment to drill down into subcategories. Use the center to navigate back up the hierarchy. Better View in Full Screen

Examples of Road PBRs#

Road PBRs

Examples of Sidewalk PBRs#

Sidewalk PBRs

Examples of Sky HDRIs#

Sky HDRIs

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Demo VR Interaction in UrbanVerse

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UrbanVerse-Gen Gallery

Contents
  • Object Assets Walkthrough
  • Example of Per-object Annotation
  • Examples of Object Diversities
    • Urban Barriers
    • Urban Street Objects
    • Urban Vehicles
    • Urban Structures
  • Object Category Distribution
  • Examples of Road PBRs
  • Examples of Sidewalk PBRs
  • Examples of Sky HDRIs

By The Anonymous UrbanVerse Project Developers

© Copyright 2025-2030, The Anonymous UrbanVerse Project Developers.