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LocalWorldModels
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articubot

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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}}

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Size of the auto-converted Parquet files (First 5GB per split):

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Number of rows (First 5GB per split):

1,600

Estimated number of rows:

23,412