arxivcs.RO2026-07-23
TableVerse: A Large-scale Tabletop Dataset with Real-world Grounded Layouts for Generalizable Manipulation
Boyuan Wang, Yue Zhang, Xutao Xue, Xueyu Song, Yu Sun
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 generat…