Omkar2118/datasets huggingface dataset:
RealArt-6

This is the official dataset collected for ![RPMArt](https://paperswithcode.com/paper/rpmart-towards-robust-perception-and) 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](https://arxiv.org/abs/2403.16023).

Introducing paper: RPMArt: Towards Robust Perception and Manipulation for Articulated Objects