myendless/ManipDreamer3D_data

Dataset of paper ManipDreamer3D

This repository contains the dataset for the paper ManipDreamer3D : Synthesizing Plausible Robotic Manipulation Video with Occupancy-aware 3D Trajectory.

Data Structure

The dataset is organized as follows:

manipdreamer3d_data/
├── 000000/ # data processed from bridge-v1
├── 000000_v2/ # data processed from bridge-v2
│   ├── data.json                       # contains gripper state, camera params, etc.
│   ├── depth_0000.png                  # partial depth values (skip every 3 frames)
│   ├── ...
│   ├── depth_0024.png
│   ├── first_frame.ply                 # point cloud of the first frame
│   ├── first_frame_gripper_mask.png    # gripper mask of the first frame
│   ├── first_frame_object_mask.png     # object mask of the first frame
│   ├── im_0000.png                     # RGB images
│   ├── ...
│   ├── im_0024.png
│   ├── lang.txt                        # language instruction
│   ├── object.ply                      # object point cloud of the first frame
│   ├── object_bbox_0.2.png             # object bounding box of the first frame
│   ├── FAIL                            # if the episode failed process

Citation

If you find this dataset useful in your research, please consider citing the following paper:

@article{li2025manipdreamer3d,
  title={ManipDreamer3D: Synthesizing Plausible Robotic Manipulation Video with Occupancy-aware 3D Trajectory},
  author={Li, Ying and Wei, Xiaobao and Chi, Xiaowei and Li, Yuming and Zhao, Zhongyu and Wang, Hao and Ma, Ningning and Lu, Ming and Zhang, Shanghang},
  journal={arXiv preprint arXiv:2509.05314},
  year={2025}
}