ClothTransformer-dataset

ClothTransformer Dataset Paper (arXiv:2605.27852) | Project Page | Code Official dataset of **ClothTransformer: Unified Latent-Space Transformers for Scalable Cloth Simulation**. It contains **2,056 penetration-free cloth simulation trajectories** (240 frames each, **493,440 frames** in total, ~33 GB) across three scenarios: free-fall collision onto diverse objects, garments on animated human bodies, and robotic cloth manipulation. Each trajectory is a cloth mesh interacting with a static or moving collider, stored as one self-contained NumPy `.npz` file. Preview | Human Garment | Robotic Manipulation | Diverse Object Collision | |:---:|:---:|:---:| | | | | Dataset Structure Each simulation `i` comes with two files: | File | Content | |---|---| | `sim_{i:05d}.npz` | The full simulation arrays (see below). **This is all you need.** | | `sim_{i:05d}_processed_cloth_00000_uv.*` | Cloth rest mesh with UVs — `.obj` in `sims_garment_anim_all`, Houdini `.bgeo.sc` in the other two scenarios. Optional: the same geometry is already inside the `.npz`. | The array schema is identical across scenarios. Mesh resolution varies per sample — always read shapes from the file. | Subset | Cloth #Verts | Cloth #Faces | Collider #Faces | Sequences | Frames | |---|---|---|---|---|---| | Human Garment | 1k–3.6k | 2k–7.1k | 1k–5.1k | 56 | 13,440 | | Robotic Manipulation | 1k–4k | 1.9k–7.9k | 0.6k | 1,000 | 240,000 | | Diverse Object Collision | 3.6k | 7k | 1k–4k | 1,000 | 240,000 | | **Total** | 1k–4k | 1.9k–7.9k | 0.6k–5.1k | **2,056** | **493,440** | Data Fields Notation: `N_v` / `N_c` = cloth / collider vertex count, `F` / `E` = triangle / edge counts, `T = 240` frames at `dt = 1/60 s` (4 s). Coordinates are world units, Y-up. Velocity fields store **per-frame displacements**; divide by `dt` for physical velocity. | Key | Shape | Dtype | Description | |---|---|---|---| | `initial` | `(N_v, 6)` | float64 | Cloth rest state: `[0:3]` rest position (equals `traj[0]`), `[3:6]` UV as `(u, v, 0