RealArt-6

홈페이지 · 논문 1편

This is the official dataset collected for !RPMArt to test the sim-to-real transfer. It contains 6 articulated object instances, each captured from 20 camera views under 5 states in scenarios with and without background, as well as presence or absence of distractors. All data are collected by a wrist-mounted Intel RealSense L515 LiDAR camera on a 7-DOF Franka Emika robot arm. The details of collection process are presented in the !paper.