Real robot episodes with per-frame constraint graphs, SAM2 segmentation masks + 256-D feature embeddings, full 3D depth bundles, and synchronized robot states across two manipulation domains. Both domains share the v3 on-disk layout (same JSON/NPZ schemas, same delta-encoded frame_states, same fully-connected PyG expansion at load time) and now share a unified 270-D node feature format — the PyG loader reads a fixed 10-D type… See the full description on the dataset page:
https://huggingface.co/datasets/ChangChrisLiu/GNN_Disassembly_WorldModel.
