CLARU
BWangCNresearch-only-pending-publication

CD-WM Grasp Dataset (3DGS + contact dynamics)

A per-object dataset for learning a contact-dynamics world model that predicts how grasped objects settle and tilt in a parallel-jaw gripper, derived from rigid-body simulation in MuJoCo with photorealistic 3D Gaussian Splatting reconstructions of real scanned objects.

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Technical Profile

Modalities
point_cloud3d_gaussian_splattingproprioceptionmesh
Robot Embodiments
parallel_jaw_gripper
Environment
simulation
Task Types
graspingmanipulation
Data Format
NPZ
License
research-only-pending-publication
Part of the CD-WM Grasp Dataset (3DGS + contact dynamics) family

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