# 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}}   
```