Manipulation & Physics
KitchenGrasp: Physics & Annotations
A complete dataset of a modern kitchen, featuring 50+ common objects with dense point clouds, precise semantic annotations, and full physics simulations. Includes interaction heatmaps for typical grasping and placement tasks.
Scene Understanding
Living Room Semantic Suite
Full 3D reconstruction of three distinct living room layouts. Provides detailed point cloud data, voxel-based semantic maps, and object-level annotations for furniture and common household items.
Navigation & Mapping
Home Navigation & Interaction Heatmaps
A large-scale dataset tracking robot navigation paths and object interaction points across a multi-story home. Features generated heatmaps identifying high-traffic zones and frequently manipulated objects.
Object Physics
Object Physics & Point Cloud Library
Contains 100+ individual household objects, each with high-resolution 3D scans, dense point clouds, and pre-computed physical properties like mass, friction, and restitution for realistic simulation.
Scene Understanding
Full Home Annotation & Mapping
A comprehensive map of a two-bedroom apartment, including RGB-D data, panoramic heatmaps of activity, and exhaustive annotations for every object and structural element. Ideal for holistic scene understanding.
Manipulation & Physics
Tabletop Manipulation Point Clouds
Focused dataset of cluttered tabletop scenes. Provides before-and-after point clouds for manipulation tasks, with detailed annotations of object poses and grasp success metrics.
Object Physics
Dynamic Object Trajectory & Physics
Dataset capturing the physics of objects in motion, such as rolling, sliding, and falling on common household surfaces. Includes synchronized video, point clouds, and ground-truth physics data.
Navigation & Mapping
Bedroom Layout & Annotation Set
Features five different bedroom configurations with complete semantic maps, object annotations (clothing, books, electronics), and navigation cost heatmaps for path planning algorithms.
Manipulation & Physics
Interactive Appliance States
A dataset focusing on interactable appliances (microwave, coffee maker, dishwasher) with annotated states, point clouds for each state (e.g., door open/closed), and associated physical constraints.
Scene Understanding
Multi-Room Point Cloud Fusion
Stitched, high-density point cloud data from an entire floor of a home, complete with registered RGB imagery and floorplan-aligned heatmaps indicating sensor coverage and object density.
