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ArtVIP dataset card

👁 License
👁 Project Page
👁 Hugging Face
👁 arXiv
👁 Paper

🎉🎉🎉 ArtVIP is accepted by ICLR 2026

Key Features

✅ 476 high-quality digital-twin articulated objects. 👁 articulated objects

👁 Digital Twin Scenes

✅ 6 pre-configured digital-twin scenes, 6 user-defined scenes

👁 Modular Interaction

✅ Reusable Modular interaction

👁 Physics Fidelity

✅ Physics fidelity

👁 Affordance Annotations

✅ Pixel-level affordance annotations

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Version History

Click here to view historical versions

Version	Release Date	Description	Highlights
v1.3	2026-06	Expanded the dataset.	✅ Added new 3D models ✅ Increased total articulated models to 476
v1.2	2026-03	Added new asset categories and simplified USD joint control code.	✅ Added 37 IKEA furniture assets (`Ikea_furniture`) ✅ Added 15 medical equipment assets (`Medical_equipment`) ✅ Simplified USD joint control code
v1.1	2025-08	Optimized the details of interactive scenes.	✅ Modify interactive scene joint drive configuration ✅Optimize collision volume decomposition within interactive scenes ✅Including 48 modular interactive objects
v1.0	2025-06	Initial release of ArtVIP dataset	✅ 206 articulated objects ✅ 6 interactive scenes ✅ 6 digital twin scenes

Dataset Information

Description

Click here for a detailed dataset description and full video introduction.

Dataset Structure

Articulated objects

Click here for the introduction to Articulated objects.

The specific modular-interaction types:

👁 Modular Interaction 1

Damping_Effect_cabinet

👁 Modular Interaction 2

Magnetic_Effect_dishwasher

👁 Modular Interaction 3

Trigger_Interactions_table

👁 Modular Interaction 4

Damping_Effect_cabint

👁 Modular Interaction 5

Magnetic_Effect_refrigerator

👁 Modular Interaction 6

Trigger_Interactions_trash_can

Scenes

2.1 Digital Twin Scenes

📁 ArtVIP/Secenes contains 6 user-defined digital-twin scenes.
- 📘 Introduction to Digital-Twin Scenes
2.2 Interactive_scene

📁 ArtVIP/Interactive_scene contains 6 pre-configured Interactive scenes.
- 📘 Introduction to Interactive scenes

👁 Kitchen Scene

🔪 Kitchen Scene Interaction

👁 Small Living Room Scene

📺 Small Living Room Interaction

👁 Parlor Scene

🛋️ Parlor Scene Interaction

👁 Bedroom Scene

🛏️ Bedroom Scene Interaction

How to use

This version is compatible with Isaac-Sim 5.0

**Install Isaac Sim 5.0 **

Official Documentation: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/quick-install.html
Linux Version Download: https://download.isaacsim.omniverse.nvidia.com/isaac-sim-standalone-5.0.0-linux-x86_64.zip
Installation steps:

# Create installation directory
mkdir ~/isaacsim

# Unzip package (assuming downloaded to ~/Downloads)
cd ~/Downloads
unzip "isaac-sim-standalone-5.0.0-linux-x86_64.zip" -d ~/isaacsim

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

# Launch Isaac Sim
./isaac-sim.selector.sh

Examples

Interaction Demo:

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

🚪 Door Operation

💡 Light Switch Activation

🔥 Microwave Interaction

❄️ Refrigerator Interaction

Full Object Interactivity:

👁 Kitchen Scene Example

🍳 Kitchen Interaction Showcase

👁 Bedroom Scene Example

🛋️ livingroom Interaction Showcase

👁 childrenroom Scene Example

🧸 childrenroom Interaction Showcase

👁 Bedroom Scene Example