partnet-mobility
QueST-PartNetMobility-SAPIEN
QueST: PartNet-Mobility SAPIEN Simulation Dataset
This dataset accompanies the paper:
QueST: Persistent Queries as Semantic Monitors for Drift Suppression in Long-Horizon TrackingMayank Anand, Mohammad Saqlain, Kyan Mahajan, Priya Shukla, G.C Nandi, Andrew MelnikCAO Workshop at ICLR 2026
What Is This Dataset?
Synchronized RGB-D simulation sequences rendered in SAPIEN from PartNet-Mobility articulated objects, designed to stress-test long-horizon point… See the full description on the dataset page: https://huggingface.co/datasets/AnandMayank/QueST-PartNetMobility-SAPIEN.PartNetMobility
PartNet-Mobility Dataset
PartNet-Mobility dataset is a collection of 2K articulated objects with motion annotations and rendering material. The dataset powers research for generalizable computer vision and manipulation. The dataset is a continuation of ShapeNet and PartNet.
The dataset is compatible with the SAPIEN simulator, a realistic and physics-rich simulated environment that hosts a large-scale set for articulated objects. SAPIEN enables various robotic vision and… See the full description on the dataset page: https://huggingface.co/datasets/sapien-sim/PartNetMobility.partnet-mobility-urdf-partspartnet-mobilitypartnet-mobility-updatedpartnet-mobility-test