A collection of ready-to-simulate urban 3D scenes in OpenUSD
for NVIDIA Isaac Sim / Isaac Lab, released by the
VAIL-UCLA lab. Each scene is a self-contained
USD stage with all of its materials and textures, so it can be opened and
simulated directly.
The scenes are generated with UrbanVerse — Scaling Urban Simulation by
Watching City-Tour Videos (Liu et al., ICLR 2026,
arXiv:2510.15018,
project page) — whose UrbanVerse-Gen
pipeline… See the full description on the dataset page:
https://huggingface.co/datasets/UCLA-VAIL/UrbanVerse-Training-Scenes.
