---
license: mit
tags:
- UAV
- 3DGS
- mesh
- vision-language-action
pretty_name: 3DGS-Mesh Environments for HUGE-Bench
---

# 3DGS-Mesh Environments for HUGE-Bench

This dataset releases the 3DGS-Mesh digital twin environments for HUGE-Bench.

`HUGE_Dataset_v0` contains the full trajectory dataset in LeRobot format, including `train`, `test_seen`, and `test_unseen` splits for all benchmark tasks. This repository contains the 3D assets required for rendering and collision-aware evaluation.

Each archive contains:

```text
data_3d/<env_id>/3dgs_ply/point_cloud_utm50.ply
data_3d/<env_id>/terra_ply/simplified_mesh.obj
```

Released environments: `1_office`, `2_city`, `3_road`, `4_lake`, `no1_building`, `no3_door`, `overhead_bridge`.

SHA256 checksums are provided in `SHA256SUMS.txt`.