TableVerse: A Large-scale Tabletop Dataset with Real-world Grounded Layouts for Generalizable Manipulation

• URL: http://arxiv.org/abs/2607.21017v1
• Date: Thu, 23 Jul 2026 08:02:53 GMT
• Title: TableVerse: A Large-scale Tabletop Dataset with Real-world Grounded Layouts for Generalizable Manipulation
• Abstract summary: TableVerse is a fully automated Real2Sim pipeline that processes internet media into high-fidelity, simulation-ready tabletop environments.<n>Our framework seamlessly processes unscripted internet media into high-fidelity, simulation-ready tabletop environments with accurate metric scales, authentic topologies, and verified mechanical stability.<n>By capturing diverse asset compositions, realistic spatial distributions, and high-quality demonstrations, TableVerse-100K establishes a highly scalable and high-fidelity data foundation.
• Score: 11.161552039605253
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: The development of generalizable robotic manipulation policies is inherently bounded by the availability of large-scale, high-fidelity scene data. While recent automated synthesis methods attempt to bridge this gap via text-to-layout hallucination or simplified procedural generation, they frequently suffer from physical implausibility and fail to capture the complex, dense clutter of actual human environments. In this paper, we introduce TableVerse, a fully automated Real2Sim pipeline that shifts the paradigm from imaginative layout generation to deterministic reconstruction from unstructured, in-the-wild image data. Our framework seamlessly processes unscripted internet media into high-fidelity, simulation-ready tabletop environments with accurate metric scales, authentic topologies, and verified mechanical stability. Furthermore, an automated task-conditioned trajectory generation framework is integrated to synthesize high-quality, collision-free pick-and-place demonstrations. Leveraging this complete pipeline, we construct the TableVerse-100K Dataset, a large-scale corpus comprising 100,000 unique, physically consistent environments paired with interactive manipulation trajectories. By capturing diverse asset compositions, realistic spatial distributions, and high-quality demonstrations, TableVerse-100K establishes a highly scalable and high-fidelity data foundation, providing significant value to facilitate future research in generalizable robotic manipulation tasks.

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