Datasetpublic

MaximumY/PolaRiS-Hub

PolaRiS Hub PolaRiS Hub is a lightweight collection of reconstructed real-to-sim manipulation environments used for evaluating generalist robot policies in simulation. It is designed to be used with the PolaRiS evaluation framework. Instructions on how to use can be found at the Github PolaRiS Codebase What’s in the Hub Each environment in PolaRiS Hub includes: A reconstructed scene (mesh + Gaussian splats) Canonical initial conditions A language instruction… See the full description on the dataset page: https://huggingface.co/datasets/MaximumY/PolaRiS-Hub.

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Dataset Card

PolaRiS Hub

PolaRiS Hub is a lightweight collection of reconstructed real-to-sim manipulation environments used for evaluating generalist robot policies in simulation. It is designed to be used with the PolaRiS evaluation framework.

Instructions on how to use can be found at the Github PolaRiS Codebase

What’s in the Hub

Each environment in PolaRiS Hub includes:

—A reconstructed scene (mesh + Gaussian splats)
—Canonical initial conditions
—A language instruction describing the task
—Task-specific evaluation metadata (success & progress)

The full hub is currently < 2GB and can be downloaded in a single command.

Available Environments

Environment Name	Task Description
DROID-BlockStackKitchen	Place and stack the blocks on top of the green tray
DROID-FoodBussing	Put all the foods in the bowl
DROID-PanClean	Use the yellow sponge to scrub the blue-handle frying pan
DROID-MoveLatteCup	Put the latte art cup on top of the cutting board
DROID-OrganizeTools	Put the scissor into the large container
DROID-TapeIntoContainer	Put the tape into the container
DROID-RubiksCubeKitchen	Pick up the Rubik's cube and place it at the target
DROID-PlayingCardsKitchen	Place the playing card at the target position
DROID-PhoneStandKitchen	Place the phone on the phone stand
DROID-ShoeKitchen	Put the shoe in the shoe box
DROID-RubiksBoxKitchen	Put the Rubik's cube in the wooden box
DROID-BookKitchen	Place the book on the bookcase
DROID-ForkCupKitchen	Flip the fork and insert it back into the cup

Download

bash

uvx hf download owhan/PolaRiS-Hub --repo-type=dataset --local-dir ./PolaRiS-Hub

Intended Use

—Evaluation of generalist robot policies
—Real-to-sim benchmarking
—Zero-shot task evaluation in simulation

Contributing

Please consider contributing your environments for broader use by the community, and to grow the means of generalist policy evaluation! See Github codebase on instruction for contributing.

Citation

bibtex

@misc{jain2025polarisscalablerealtosimevaluations,
      title={PolaRiS: Scalable Real-to-Sim Evaluations for Generalist Robot Policies}, 
      author={Arhan Jain and Mingtong Zhang and Kanav Arora and William Chen and Marcel Torne and Muhammad Zubair Irshad and Sergey Zakharov and Yue Wang and Sergey Levine and Chelsea Finn and Wei-Chiu Ma and Dhruv Shah and Abhishek Gupta and Karl Pertsch},
      year={2025},
      eprint={2512.16881},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2512.16881}, 
}