Hugging Face's logo

Datasets:
LocalWorldModels
/
articubot

Modalities:
Text
Formats:
webdataset
Size:
10K - 100K
Libraries:
Datasets
WebDataset
Dataset card Data Studio Files
xet
Community
1
Dataset Viewer (First 5GB)
Auto-converted to Parquet
The dataset viewer is not available for this split.
Rows from parquet row groups are too big to be read: 571.40 MiB (max=286.10 MiB)
Error code:   TooBigContentError

Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.

YAML Metadata Warning: empty or missing yaml metadata in repo card (https://huggingface.co/docs/hub/datasets-cards)

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}}
Downloads last month
389
Size of the auto-converted Parquet files (First 5GB per split):
10 GB
Number of rows (First 5GB per split):
1,600
Estimated number of rows:
23,412