CLARU
breezexiancc-by-nc-4.0

UniPhys-Bench Part 2

A human-verified benchmark comprising 454 evaluation-only articulated 3D objects with annotations for articulation semantics, structure, part-level physical properties, and object-level scale and mass.

Downloads1K
Likes2

Technical Profile

Modalities
3d_meshpoint_cloudsegmentation
Environment
simulation
Task Types
articulationphysical_groundingpart_decomposition
Data Format
OBJ/PLY/URDF
License
cc-by-nc-4.0
Part of the UniPhys-Bench Part 2 family

Access

View on HuggingFace

Need custom 3d_mesh data?

Claru builds purpose-built datasets for simulation applications with dense human annotations and quality assurance.

Request a Sample Pack

Related Datasets

UniPhys-Bench

A human-verified benchmark of 1,927 heterogeneous articulated 3D objects with annotations for articulation semantics, structure, part-level physical properties, and object-level scale and mass.

3d_meshpoint_cloud
null downloadsSep 2026cc-by-nc-4.0

Xperience-10M

A large-scale egocentric multimodal dataset of human experience containing 10 million interactions and 10,000 hours of synchronized first-person recordings with six video streams, audio, stereo depth, camera pose, hand mocap, full-body mocap, IMU, and hierarchical language annotations for embodied AI, robotics, and world modeling research.

rgbaudiodepthproprioception+3
96K downloadsApr 2026other

TartanGround

A large-scale, multi-modal dataset designed to advance perception and autonomy of ground robots operating in diverse environments, collected across 63 photorealistic simulation environments with over 1.44 million samples from 878 trajectories.

rgbdepthsemantic_segmentationoptical_flow+5
78K downloadsOct 2025cc-by-4.0

SplatAtlas-IR: From 3DGS Inverse Rendering to Normal-Guided Robot Contact

A task-aligned benchmark of 3D Gaussian Splatting inverse-rendering methods that re-executes 11 methods on 46 scenes from 6 datasets, validates decomposed material properties (RGB, albedo, roughness, normal, metallic), and evaluates their utility for robot contact tasks through normal-guided articulated contact and roughness-conditioned pushing tests.

rgbnormalalbedoroughness+3
9K downloadsSep 2026cc-by-4.0

HumanEgo

A dataset of human egocentric manipulation videos recorded with Project Aria glasses, paired with MPS annotations (SLAM trajectories, hand tracking) and preprocessed outputs including per-frame RGB, segmentation masks, 3D tracking, and training targets for zero-shot robot learning from minutes of human video.

rgbimuslamhand_tracking+2
9K downloadsJun 2026cc-by-4.0

Stera-10M

An open egocentric multimodal dataset for embodied AI and robotics containing 200 hours of synchronized first-person recordings with RGB, LiDAR depth, 6-DoF camera pose, IMU, and 21-joint hand mocap annotations from 500+ sessions.

rgbdepthimuproprioception+2
6K downloadsMay 2026stera-license