Quickstart Guide

This section provides step-by-step guides to get you started with UrbanVerse’s core features and workflows. Whether you want to explore the UrbanVerse-100K dataset, generate custom scenes from videos, use pre-built environments, or train navigation policies, these guides will help you get up and running quickly.

The quickstart guide covers:

• UrbanVerse-100K Dataset: Exploring and using the 102,530 3D urban assets, 288 ground materials, and 306 HDRI sky maps through Python APIs

• UrbanVerse-Gen Pipeline: Converting raw city-tour videos into fully interactive 3D simulation environments

• Pre-Built Scenes: Loading and using UrbanVerse-160 (160 real-to-sim scenes) and CraftBench (10 artist-designed test scenes)

• Robot Training: Training goal-point navigation policies using reinforcement learning in UrbanVerse environments

• Policy Evaluation: Testing trained policies on CraftBench scenes with standardized evaluation metrics

Note

We recommend system requirements with at least 32GB RAM and 16GB VRAM for UrbanVerse. For workflows with rendering enabled, additional VRAM may be required. For the full list of system requirements for Isaac Sim, please refer to the Isaac Sim system requirements.

Before starting, ensure you have completed the Installation process, including installing Isaac Sim, caching UrbanVerse-100K assets, and downloading scenes.

• Introduction to Quickstart Guide
• Use UrbanVerse-100K with APIs
  • Interactive Dataset Overview (Sunburst Plot)
  • Quick Exploration of Categories and Components
  • Loading Categories
  • Loading UIDs
  • Loading Annotations
  • Per-object Annotation Example in UrbanVerse-100K
  • Full List of Annotation Fields
  • Filtering by Attributes
  • Downloading Assets
• Real-to-Sim Scene Generation with UrbanVerse-Gen
  • Prepare Your Video
    • API
    • Examples (pipeline step 1)
  • Extracting Semantic Scene Layout from Videos
    • API
    • Example (pipeline step 2)
    • Output Structure
  • Retrieving 3D Assets and Materials from UrbanVerse-100K
    • API
    • Example (pipeline step 3)
    • Output
  • Creating and Instantiating Simulation Scenes
    • API
    • Example (pipeline step 4)
    • Output Structure
  • Summary: End-to-End Example Pipeline
• Use Built-in UrbanVerse Scenes
  • Prerequisite
  • Loading UrbanVerse-160 Scenes
    • API
    • Example
  • Inspecting Scene Metadata (Optional)
    • API
    • Example
  • Spawning UrbanVerse-160 Scenes in Isaac Sim UI
    • API
    • Example
  • Filtering Scenes by Statistics (Optional)
    • API
    • Example
  • Summary
• Use CraftBench Scenes
  • Prerequisite
  • Loading CraftBench Scenes
    • API
    • Example
  • Previewing Scenes (Optional)
    • API
    • Example
  • Spawning CraftBench Scenes in IsaacSim UI
    • API
    • Example
  • Filtering CraftBench Scenes by Attributes (Optional)
    • API
    • Example
  • Summary
• Train Your Robots in UrbanVerse
  • Prerequisites
  • Launch Training from CLI
    • Suggested CLI arguments
  • Selecting Scenes for Training
    • Option A — Custom list of USD scene paths
    • Option B — Use UrbanVerse-160 scenes
  • Navigation Task Configuration
    • API
    • Example
  • PPO Training Configuration
    • API
    • Example
  • Reward Configuration
    • API
    • Example
  • High-Level Training API
    • API
  • End-to-End Example (Python)
  • Gymnasium Environment Registration (Advanced)
  • Configuration Classes (Conceptual Notes)
• Test Your Robots in CraftBench
  • Prerequisite
  • Loading CraftBench Scenes
    • API
    • Example
  • Loading a Trained Policy
    • API
    • Example
  • Evaluation API
    • API
  • Metric Definitions
  • End-to-End Example
    • Output Example
  • Summary