CLARU
allenaiMIT

PRISM

A large-scale synthetic dataset for task-oriented grasping featuring 379k task-grasp samples in cluttered environments with diverse task descriptions. The dataset uses 2365 object instances from ShapeNet-Sem and stable grasps from ACRONYM across 10,000 unique scenes with multiple views.

Downloads182
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Technical Profile

Modalities
rgbpoint_cloudsegmentationlanguage
Environment
simulation
Task Types
graspingtask-oriented-graspingmanipulation
Data Format
HDF5
License
MIT
Part of the PRISM family

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