| # ArticuBot Simulated Dataset for Trajectories of Articulation (saved in WebDataset Format and splitter into train / val) |
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| ## Data Format |
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| 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 |
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| ## Citation |
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| If you use this dataset in your research, please cite original AricuBot paper: |
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|
| ```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}} |
| ``` |
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