---
license: mit
viewer: false
---

# 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](https://github.com/arhanjain/polaris/tree/main)

## 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](https://github.com/arhanjain/polaris/tree/main) 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}, 
}
```