ArtVIP dataset card

🎉🎉🎉 ArtVIP is accepted by ICLR 2026

Key Features

✅ 206 high-quality digital-twin articulated objects.

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

✅ Reusable Modular interaction

✅ Physics fidelity

✅ Pixel-level affordance annotations

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Version History

Click here to view historical versions

Version	Release Date	Description	Highlights
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

1. Articulated objects

   Click here for the introduction to Articulated objects.

The specific modular-interaction types:

Damping_Effect_cabinet

Magnetic_Effect_dishwasher

Trigger_Interactions_table

Damping_Effect_cabint

Magnetic_Effect_refrigerator

Trigger_Interactions_trash_can

2. 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 Interaction

📺 Small Living Room Interaction

🛋️ Parlor Scene Interaction

🛏️ Bedroom Scene Interaction

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How to use

1. Install Isaac Sim 4.5

   • Official Documentation: 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

   • Installation steps:

   # 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)

🚪 Door Operation

💡 Light Switch Activation

🔥 Microwave Interaction

❄️ Refrigerator Interaction

Full Object Interactivity:

🍳 Kitchen Interaction Showcase

🛋️ livingroom Interaction Showcase

🧸 childrenroom Interaction Showcase

🍽️ kitchen_with_parlor Interaction Showcase

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BibTeX

@inproceedings{jin2026artvip,
  title={ArtVIP: Articulated Digital Assets of Visual Realism, Modular Interaction, and Physical Fidelity for Robot Learning},
  author={Zhao Jin and Zhengping Che and Tao Li and Zhen Zhao and Kun Wu and Yuheng Zhang and others},
  booktitle={International Conference on Learning Representations (ICLR)},
  year={2026}
}