QueST: PartNet Mobility SAPIEN Simulation Dataset This dataset accompanies the paper: QueST: Persistent Queries as Semantic Monitors for Drift Suppression in Long Horizon Tracking Mayank Anand, Mohammad Saqlain, Kyan Mahajan, Priya Shukla, G.C Nandi, Andrew Melnik CAO 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 tracking under articulation, occlusion, and viewpoint change. The dataset supports the QueST framework — which replaces frame to frame Markovian tracking with persistent semantic queries that attend globally across time, achieving a 67.7% APE reduction over TAP Net on long horizon articulated sequences. Exact Folder Structure Each sequence is stored as an individual take folder: What Each File Contains File Description frames/ Individual RGB D frames as PNG — use for frame level tracking evaluation affordance/ Pixel level affordance annotations — interaction relevant regions labeled video.mp4 Full sequence as compressed video — use for temporal model training affordance vis 10frames.png Visual summary of affordance labels across 10…
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