README.md

ArticuBot Simulated Dataset for Trajectories of Articulation (saved in WebDataset Format and splitter into train / val)

Data Format

Each sample in the WebDataset contains:

• metadata.json: Complete metadata including object_id, category, and trajectory info
• trajectory.pkl: Trajectory data with all timesteps
• info.json: Sample structure information

Sample Structure

Each trajectory contains timesteps with the following data:

• state: Robot state information
• action: Robot actions
• point_cloud: Scene point cloud
• gripper_pcd: Gripper point cloud
• displacement_gripper_to_object: Spatial displacement vectors
• goal_gripper_pcd: Goal gripper point cloud

Citation

If you use this dataset in your research, please cite original AricuBot paper:

@inproceedings{Wang2025articubot,
      title={ArticuBot: Learning Universal Articulated Object Manipulation Policy via Large Scale Simulation},
      author={Wang, Yufei and Wang, Ziyu and Nakura, Mino and Bhowal, Pratik and Kuo, Chia-Liang and Chen, Yi-Ting and Erickson, Zackory and Held, David},
      booktitle={Robotics: Science and Systems (RSS)},
      year={2025}}