mlsanityData to 7 Oct 2026

The RBO Dataset of Articulated Objects and Interactions

arXiv 1806.06465 ↗First posted 17 Jun 2018cs.RO cs.CVcited by 34

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Abstract (arXiv)

We present a dataset with models of 14 articulated objects commonly found in human environments and with RGB-D video sequences and wrenches recorded of human interactions with them. The 358 interaction sequences total 67 minutes of human manipulation under varying experimental conditions (type of interaction, lighting, perspective, and background). Each interaction with an object is annotated with the ground truth poses of its rigid parts and the kinematic state obtained by a motion capture system. For a subset of 78 sequences (25 minutes), we also measured the interaction wrenches. The object models contain textured three-dimensional triangle meshes of each link and their motion constraints. We provide Python scripts to download and visualize the data. The data is available at https://tu-rbo.github.io/articulated-objects/ and hosted at https://zenodo.org/record/1036660/.

Key facts. Cited by 34 papers in the map (data through 7 Oct 2026). First posted on arXiv 17 Jun 2018.

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Citing papers per year: 2021: 8; 2022: 5; 2023: 5; 2024: 6; 2025: 6; 2026: 4.

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  1. 2021Where2Act: From Pixels to Actions for Articulated 3D Objectscited by 179
  2. 2021A-SDF: Learning Disentangled Signed Distance Functions for Articulated Shape Representationcited by 113
  3. 2024URDFormer: A Pipeline for Constructing Articulated Simulation Environments from Real-World Imagescited by 106
  4. 2022AKB-48: A Real-World Articulated Object Knowledge Basecited by 81
  5. 2021VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objectscited by 78
  6. 2023CARTO: Category and Joint Agnostic Reconstruction of ARTiculated Objectscited by 64
  7. 2022OPD: Single-view 3D Openable Part Detectioncited by 52
  8. 2022Self-supervised Neural Articulated Shape and Appearance Modelscited by 51
  9. 2021O2O-Afford: Annotation-Free Large-Scale Object-Object Affordance Learningcited by 46
  10. 2021Towards Real-World Category-level Articulation Pose Estimationcited by 39
  11. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 39
  12. 2021PTR: A Benchmark for Part-based Conceptual, Relational, and Physical Reasoningcited by 34
22 more
  1. 2023NAP: Neural 3D Articulation Priorcited by 25
  2. 2025Articulated Object Estimation in the Wildcited by 18
  3. 2023ContactArt: Learning 3D Interaction Priors for Category-level Articulated Object and Hand Poses Estimationcited by 16
  4. 2024Survey on Modeling of Human-made Articulated Objectscited by 14
  5. 2021Unsupervised Pose-Aware Part Decomposition for 3D Articulated Objectscited by 12
  6. 2026Articulated 3D Scene Graphs for Open-World Mobile Manipulationcited by 9
  7. 2022NARF22: Neural Articulated Radiance Fields for Configuration-Aware Renderingcited by 8
  8. 2023NAISR: A 3D Neural Additive Model for Interpretable Shape Representationcited by 7
  9. 2024SM3: Self-Supervised Multi-task Modeling with Multi-view 2D Images for Articulated Objectscited by 5
  10. 2024Discovering Conceptual Knowledge with Analytic Ontology Templates for Articulated Objectscited by 5
  11. 2022Structure from Action: Learning Interactions for Articulated Object 3D Structure Discoverycited by 4
  12. 2025Kaiwu: A Multimodal Manipulation Dataset and Framework for Robot Learning and Human-Robot Interactioncited by 4
  13. 2026Artiverse: A Diverse and Physically Grounded Dataset for Articulated Objectscited by 4
  14. 2025Symbolic Intermediaries as a Linguistic-Numerical Interface for LLM-Driven Geometric Reasoningcited by 2
  15. 2025DYNAMO: Dependency-Aware Deep Learning Framework for Articulated Assembly Motion Predictioncited by 2
  16. 2024Locate n' Rotate: Two-stage Openable Part Detection with Foundation Model Priorscited by 1
  17. 2026Revisiting Articulated Parts Perception in Robot Manipulationcited by 1
  18. 2021Deep Measurement Updates for Bayes Filterscited by 0
  19. 2023Local Region-to-Region Mapping-based Approach to Classify Articulated Objectscited by 0
  20. 2025Australian Supermarket Object Set (ASOS): A Benchmark Dataset of Physical Objects and 3D Models for Robotics and Computer Visioncited by 0
  21. 2025KineDiff3D: Kinematic-Aware Diffusion for Category-Level Articulated Object Shape Reconstruction and Generationcited by 0
  22. 2026URDF Synthesis from RGB-D Sequences via Differentiable Joint Inference and Energy-Consistent Verificationcited by 0