CLARU
ChangChrisLiucc-by-4.0

GNN Disassembly World Model Dataset

Real robot disassembly episodes with per-view constraint graphs, SAM2 segmentation masks, 3D positions, and synchronized robot states collected using a UR5e manipulator disassembling desktop motherboards.

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Why This Matters for Physical AI

This dataset enables training graph neural networks to learn task-relevant constraints and causal relationships between object components, advancing world models for sequential manipulation and planning in disassembly tasks.

Technical Profile

Modalities
rgbdepthproprioceptionsegmentation
Robot Embodiments
UR5e
Action Space
joint_positions
Environment
lab
Task Types
manipulationdisassembly
Data Format
numpy
Annotation Types
segmentationlanguage_instructionsconstraint_graphs3d_positionsfeature_embeddings
License
cc-by-4.0
Part of the GNN Disassembly World Model Dataset family

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