---
language:
- en
license: apache-2.0
task_categories:
- robotics
pretty_name: ArtVIP
tags:
- usd
- articulations
- Robotics simulation
Modalities:
- 3D
Formats:
- webdataset
---

# ArtVIP dataset card


[![License](https://img.shields.io/badge/License-Apache_2.0-yellow.svg)](https://opensource.org/licenses/Apache-2.0)
[![Project Page](https://img.shields.io/badge/Project%20Page-ArtVIP-blue.svg)](https://x-humanoid-artvip.github.io/)
[![Hugging Face](https://img.shields.io/badge/Hugging_Face-ArtVIP-yellow.svg)](https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP)
[![arXiv](https://img.shields.io/badge/arXiv-ArtVIP-red.svg)](https://arxiv.org/abs/2506.04941)
[![Paper](https://img.shields.io/badge/Hugging_Face-Paper-yellow.svg)](https://huggingface.co/papers/2506.04941)



## Key Features

✅ 206 high-quality digital-twin articulated objects. 
 ![articulated objects](./assets/206_articulated_objects.gif) 

<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;">
  
  <!-- Digital Twin Scenes -->
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <img src="./assets/digital_twin_scences.gif" width="100%" alt="Digital Twin Scenes">
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      ✅ 6 pre-configured digital-twin scenes, 6 user-defined scenes
    </p>
  </div>

  <!-- Reusable Modular Interaction -->
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <img src="./assets/Magnetic_attraction.gif" width="100%" alt="Modular Interaction">
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      ✅ Reusable Modular interaction
    </p>
  </div>

  <!-- Physics Fidelity -->
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <img src="assets/chair.gif" width="100%" alt="Physics Fidelity">
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      ✅ Physics fidelity
    </p>
  </div>

  <!-- Pixel-level Affordance Annotations -->
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <img src="assets/Seg_chair.gif" width="100%" alt="Affordance Annotations">
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      ✅ Pixel-level affordance annotations
    </p>
  </div>

</div>

---
## Version History

| Version | Release Date | Description                                                                 | Highlights |
|---------|--------------|-----------------------------------------------------------------------------|------------|
| v1.0    | 2024-06      | Initial release of ArtVIP dataset                                           | ✅ 206 articulated objects<br>✅ 6 interactive scenes<br>✅ 6 digital twin scenes<br> |

### Current Version Details (v1.0)
- **Dataset Size**: 206 articulated objects across 26 categories
- **Scene Coverage**: 6 digital twin scenes, 6 fully interactive scenes
- **Key Innovations**:
  - Pixel-level affordance annotations
  - Embedded modular interaction behaviors
  - Physically accurate dynamic parameters
  - High-resolution textures (4K PBR materials)
- **Supported Platforms**: Isaac Sim 4.5


### Dataset Information
### Description
[Click here](https://x-humanoid-artvip.github.io/) for a detailed dataset description and full video introduction.

### Dataset Structure

1. **Articulated objects** 
   
📁 ``ArtVIP/Articulated_objects`` contains **206** 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          |


2. **Scenes**

📁 ``ArtVIP/Secenes`` contains **6** user-defined digital-twin scenes. 

- 🏠 **Children's Room**
- 🍽️ **Dining Room**
- 🔪 **Kitchen**
- 🛋️ **Kitchen with Parlor**
- 🖼️ **Large Living Room**
- 📺 **Small Living Room**


📁 ``ArtVIP/Interactive_scene`` contains **6** pre-configured digital-twin scenes.

<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;">

  <!-- Kitchen Scene -->
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <img src="./assets/kitchen-open.gif" width="100%" alt="Kitchen Scene">
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      🔪 Kitchen Scene Interaction
    </p>
  </div>
  <!-- Small Living Room Scene -->
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <img src="./assets/smalllivingroom_open.gif" width="100%" alt="Small Living Room Scene">
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      📺 Small Living Room Interaction
    </p>
  </div>

  <!-- Kitchen_with_parlor Scene -->
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <img src="./assets/parlor_open.gif" width="100%" alt="Parlor Scene">
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      🛋️ Parlor Scene Interaction
    </p>
  </div>





  <!-- Bedroom Scene -->
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <img src="./assets/bedroom_open.gif" width="100%" alt="Bedroom Scene">
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      🛏️ Bedroom Scene Interaction
    </p>
  </div>

</div>



---


### How to use
1. **Install Isaac Sim 4.5**  
   - Official Documentation: [https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html](https://docs.isaacsim.omniverse.nvidia.com/latest/installation/download.html)  

   - Linux Version Download: [https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone%404.5.0-rc.36%2Brelease.19112.f59b3005.gl.linux-x86_64.release.zip](https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone%404.5.0-rc.36%2Brelease.19112.f59b3005.gl.linux-x86_64.release.zip)

   - Installation steps:
   ```bash
   # 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

**Interaction Demo**:
1. Locate the scene file: `/Interactive_scene/kitchen/kitchen_target_position0.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](./assets/open_oven.png)  -->
<div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;">

  <!-- Door Opening -->
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <video controls muted playsinline width="100%">
      <source src="https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP/resolve/main/assets/open_door.mp4" type="video/mp4">
    </video>
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      🚪 Door Operation
    </p>
  </div>

  <!-- Light Switch -->
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <video controls muted playsinline width="100%">
      <source src="https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP/resolve/main/assets/turn_on.mp4" type="video/mp4">
    </video>
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      💡 Light Switch Activation
    </p>
  </div>

  <!-- Oven Operation -->
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <video controls muted playsinline width="100%">
      <source src="https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP/resolve/main/assets/oven_open.mp4" type="video/mp4">
    </video>
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      🔥 Microwave Interaction
    </p>
  </div>

  <!-- Refrigerator Demo -->
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <video controls muted playsinline width="100%">
      <source src="https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP/resolve/main/assets/open_fridge.mp4" type="video/mp4">
    </video>
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      ❄️ Refrigerator Interaction
    </p>
  </div>

</div>

 **Full Object Interactivity**:
 <div align="center" style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 20px; margin: 2rem 0;">
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <img src="./assets/example_kitchen.gif" width="100%" alt="Kitchen Scene Example">
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      🍳 Kitchen Interaction Showcase
    </p>
  </div>
  <div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
    <img src="./assets/example_bedroom.gif" width="100%" alt="Bedroom Scene Example">
    <p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
      🛏️ Bedroom Interaction Showcase
    </p>
  </div>
</div>