| # 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: | |
| ```bibtex | |
| @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}} | |
| ``` | |