UrbanVerse-100K Asset Caching

UrbanVerse-100K Asset Caching#

UrbanVerse-100K is our curated collection of high-quality urban 3D assets and textures, each annotated with semantic, physical, and affordance attributes in true metric scale. To use the full UrbanVerse-100K database with UrbanVerse-Gen or for your own custom pipelines, you must first download the dataset from our Hugging Face 🤗 repository.

This page describes how to download, verify, and cache UrbanVerse-100K locally.

Dataset Structure#

UrbanVerse-100K includes the following assets:

Component

Description

Quantity

Format

3D Object Assets

Metric-scale 3D object models spanning 667 urban categories.

102,530

.glb

Object Thumbnails

Canonical-view thumbnail for each 3D object asset.

102,530

.png

Multi-View Object Renders

Four standardized renders per asset at 0°, 90°, 180°, 270°.

410,120 (4 × 102,530)

.png

Ground Materials (PBR)

4K photorealistic PBR ground materials (road, sidewalk, terrain).

288

.mdl

Ground Material Thumbnails

Preview thumbnail for each ground material.

288

.png

HDRI Sky Maps

High-resolution 4K HDRI domes for realistic, full-environment lighting.

306

.hdr

HDRI Thumbnails

Thumbnail previews for each HDRI sky map.

306

.png

Per-Object Annotations

One annotation file per asset, each containing 33 semantic, physical, and affordance attributes.

102,530

.json

Master Annotation File

Global index linking all assets, UIDs, categories, and metadata.

1

urbanverse_annotation.json

Each asset is keyed by a unique UID, which appears consistently across all files and metadata.

Asset License Distribution#

Below, we provide the license distribution of the UrbanVerse-100K dataset. In summary, most of the assets are released under CC BY license, which allows non-commercial and commercial use with attribution.

License Type

Description

Count

CC BY

Redistribution allowed with attribution; commercial use permitted.

84,538

CC BY-NC-SA

Non-commercial use only; derivatives must be shared alike.

9,757

CC BY-NC

Non-commercial use only; sharing allowed with attribution.

5,824

CC BY-SA

Attribution required; derivatives must be shared alike.

1,365

CC0

Public domain; no attribution or restrictions.

960

Ground Materials (PBR)

All 4K MDL ground materials are released under CC BY.

288

HDRI Sky Maps

All HDRI sky domes are released under CC BY.

306

Downloading UrbanVerse-100K from Hugging Face#

We host UrbanVerse-100K on Hugging Face for fast, reliable downloads and resumable large-file transfers. You can download the dataset using either the Hugging Face CLI or Git LFS.

Note

All download URLs in this documentation are anonymized with <URL OMITTED FOR DOUBLE-BLIND REVIEW> placeholderfor double-blind review.

Method 2: Using Git LFS#

For users who prefer dataset version control with Git:

  1. Install Git LFS:

    sudo apt-get install git-lfs
git lfs install

  2. Clone the dataset repository:

    git clone "<URL OMITTED FOR DOUBLE-BLIND REVIEW>" UrbanVerse-100K

Git LFS will automatically fetch the necessary large binary files.

Verifying Your Local Cache#

After downloading, ensure the following files exist:

UrbanVerse-100K/
├── assets_glb/                     # 3D object assets (.glb)
├── assets_thumbnails/              # Thumbnails (1 per asset)
├── assets_renders/                 # Multi-view renders (0°, 90°, 180°, 270°)
├── assets_annotations/             # Per-object attribute JSON files
├── ground_materials_mdl/           # PBR ground materials (.mdl)
│   ├── road/
│   └── sidewalk/
├── ground_materials_thumbnails/    # Thumbnails for each PBR ground material
│   ├── road/
│   └── sidewalk/
├── sky_maps_hdr/                   # HDRI sky maps (.hdr)
├── sky_maps_thumbnails/            # Thumbnails for each HDRI sky map
├── urbanverse_annotation.json      # Master annotation file
└── README.md

If the annotation file is missing, the download may be incomplete.

Linking UrbanVerse-100K with UrbanVerse#

Once the dataset is downloaded, set the cache path in your environment:

export URBANVERSE_ASSET_ROOT="/path/to/UrbanVerse-100K"

UrbanVerse-Gen and UrbanVerse training pipelines will automatically detect the dataset and load assets, textures, and metadata from this directory.

Note

If you place the dataset elsewhere, simply update URBANVERSE_ASSET_ROOT accordingly.

Using Asset Caching in UrbanVerse-Gen#

UrbanVerse-Gen relies on the cached UrbanVerse-100K dataset to retrieve and assemble the correct 3D assets for each object detected in a scene. Retrieval is performed using:

  • the asset’s GLB file, thumbnail, and multi-view renders (for matching and verification)

  • the unique asset UID

  • category and subcategory information

  • semantic, physical, and affordance attribute filters

When the UrbanVerse-100K cache is properly configured, UrbanVerse-Gen will:

  1. Retrieve candidate assets from the cached directory based on category tags and attribute constraints.

  2. Parse per-object annotations in the extracted semantic scene layout and bind the best-matching cached assets to each object instance.

  3. Assemble the final simulation scene by placing assets at metric-accurate coordinates, applying physical parameters from annotations, and exporting the complete scene as a USD environment.

With the asset cache in place, this entire process is automatic and requires no manual handling of files.

Troubleshooting#

Incomplete download

If some files appear missing, re-run the download with:

huggingface-cli repo download "<URL OMITTED FOR DOUBLE-BLIND REVIEW>" \
    --local-dir ./UrbanVerse-100K --resume-download

Git LFS not pulling large files

git lfs pull

UrbanVerse cannot find the asset cache

Verify that:

echo $URBANVERSE_ASSET_ROOT

points to your dataset root folder.