ArtVIP

# ArtVIP dataset card

[](https://opensource.org/licenses/Apache-2.0)
[](https://x-humanoid-artvip.github.io/)
[](https://huggingface.co/datasets/x-humanoid-robomind/ArtVIP)
[](https://arxiv.org/abs/2506.04941)
[](https://huggingface.co/papers/2506.04941)

## Key Features

✅ 206 high-quality digital-twin articulated objects.

<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](./assets/Release_history.md)

[Click here](./assets/Release_history.md) to view historical versions

| Version | Release Date | Description | Highlights |
|---------|--------------|-----------------------------------------------------------------------------|------------|
| v1.1 | 2024-08 | Optimized the details of interactive scenes. | ✅ Modify interactive scene joint drive configuration<br>✅Optimize collision volume decomposition within interactive scenes <br> ✅Including 48 modular interactive objects |
| v1.0 | 2024-06 | Initial release of ArtVIP dataset | ✅ 206 articulated objects<br>✅ 6 interactive scenes<br>✅ 6 digital twin scenes<br> |

### 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**

[Click here](./Articulated_objects/README.md) for the introduction to Articulated objects.
The specific modular-interaction types:

<div align="center" style="display: grid; grid-template-columns: repeat(3, 1fr); gap: 20px; margin: 2rem 0;">
<!-- Modular Interaction GIF 1 -->
<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
<img src="assets/modular-interaction/Damping_Effect_cabinet.gif" width="100%" alt="Modular Interaction 1">
<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
Damping_Effect_cabinet
</p>
</div>

<!-- Modular Interaction GIF 2 -->
<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
<img src="assets/modular-interaction/Magnetic_Effect_dishwasher.gif" width="100%" alt="Modular Interaction 2">
<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
Magnetic_Effect_dishwasher
</p>
</div>

<!-- Modular Interaction GIF 3 -->
<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
<img src="assets/modular-interaction/Trigger_Interactions_table_2.gif" width="100%" alt="Modular Interaction 3">
<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
Trigger_Interactions_table
</p>
</div>

<!-- Modular Interaction GIF 4 -->
<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
<img src="assets/modular-interaction/Damping_Effect_cabint_2.gif" width="100%" alt="Modular Interaction 4">
<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
Damping_Effect_cabint
</p>
</div>

<!-- Modular Interaction GIF 5 -->
<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
<img src="assets/modular-interaction/Magnetic_Effect_refrigerator.gif" width="100%" alt="Modular Interaction 5">
<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
Magnetic_Effect_refrigerator
</p>
</div>

<!-- Modular Interaction GIF 6 -->
<div style="border-radius: 8px; overflow: hidden; box-shadow: 0 4px 12px rgba(0,0,0,0.1);">
<img src="assets/modular-interaction/Trigger_Interactions_trash_can.gif" width="100%" alt="Modular Interaction 6">
<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
Trigger_Interactions_trash_can
</p>
</div>
</div>

2. **Scenes**

2.1 Digital Twin Scenes

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

- [📘 Introduction to Digital-Twin Scenes](./Scenes/README.md)

2.2 Interactive_scene

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

- [📘 Introduction to Interactive scenes](./Interactive_scene/README.md)

<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/Interactive_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)
<!--  -->

<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/Kitchen_interactive.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/interactive_largelivingroom.gif" width="100%" alt="Bedroom Scene Example">
<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
🛋️ livingroom 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/interactive_childrenroom.gif" width="100%" alt="childrenroom Scene Example">
<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
🧸 childrenroom 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/Interactive_kitchen_with_parlor.gif" width="100%" alt="Bedroom Scene Example">
<p style="text-align: center; margin: 8px 0; font-size: 0.9em; color: #666;">
🍽️ kitchen_with_parlor Interaction Showcase
</p>
</div>
</div>