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Datasets:
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ArtVIP

Tasks:
Robotics
Languages:
English
ArXiv:
Tags:
usd
articulations
Robotics simulation
mjcf
usdz
isaac-sim-assets
License:
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metadata 
language:
  - en
license: apache-2.0
task_categories:
  - robotics
pretty_name: ArtVIP
tags:
  - usd
  - articulations
  - Robotics simulation
Modalities:
  - 3D
Formats:
  - webdataset

ArtVIP dataset card

Paper

Key Features

✅ We release a collection of 26 categories, 206 high-quality digital-twin articulated objects.

✅ We provide digital-twin scene assets and configured scenarios integrating articulated objects within scene for immediate use.

✅ All assets are provided in USD format and are open-source.

✅ The detailed production process and standard offer comprehensive guidance to facilitate community adoption and replication.

Dataset Structure

  1. Articulated objects
Articulated objects Items
Household Items basket, cardboard_box, mop, pump_bottle, stationery, tongs, toolbox, trash_can
Large Furniture cupboard, wardrobe
Major Appliances built-in_oven, dishwasher, refrigerator, standing_fan, toilet, washing_machine, water_dispenser
Small Appliances coffee_machine, laptop, microwave, oven, rice_cooker, table_fan, water_dispenser
Small Furniture cabinet, chair, faucet, filing_cabinet, shoe_cabinet, table
  1. Scenes
Scene Type Included Scenes
Children's Room 🏠 children_room
Dining Room 🍽️ dining_room
Kitchen 🔪 kitchen
Kitchen with Parlor 🛋️ kitchen_with_parlor
Large Living Room 🖼️ large_living_room
Small Living Room 📺 small_living_room
  1. Interactive Scenes
Scene Type Interactive Scenes
Children's Room 🎮 children_room
Kitchen 🔪 kitchen

Dataset information

Description

ArtVIP, a com-prehensive open-source dataset comprising high-quality digital-twin articulated objects, accompanied by indoor-scene assets. Crafted by professional 3D modelers adhering to unified standards, ArtVIP ensures visual realism through precise ge-ometric meshes and high-resolution textures, while physical fidelity is achieved via fine-tuned dynamic parameters. Meanwhile, the dataset pioneers embedded modular interaction behaviors within assets and pixel-level affordance annotations. Feature-map visualization and optical motion capture are employed to quantitatively demonstrate ArtVIP’s visual and physical fidelity, with its applicability validated across imitation learning and reinforcement learning experiments. Provided in USD format with detailed production guidelines, ArtVIP is fully open-source, benefiting the research community and advancing robot learning research.

How to use

  1. Install Isaac Sim 4.5 
    # Create installation directory
mkdir ~/isaacsim

# Unzip package (assuming downloaded to ~/Downloads)
cd ~/Downloads
unzip "isaac-sim-standalone@4.5.0-rc.36+release.19112.f59b3005.gl.linux-x86_64.release.zip" -d ~/isaacsim

# Run post-installation setup
cd ~/isaacsim
./post_install.sh

# Launch Isaac Sim
./isaac-sim.sh

Examples

Kitchen Scene Interaction Demo:

  1. Locate the scene file: Interactive_scene/kitchen/Kitchen.usd
  2. Open in Isaac Sim and click ▶️ PLAY
  3. Force Application:
    • Hold SHIFT + Left Click and drag to apply external forces (highlighted in green in the demonstration image)

Oven Articulation

  1. Available Interactions:
    • Press switches to open doors
    • Toggle light switches
    • Operate microwave buttons
    • Open refrigerator doors

🚪 Door Operation Demo

💡 Light Switch Activation

🔥 Oven Door Articulation

❄️ Refrigerator Interaction