CLARU
swistreich2025mit

X-Capture

A multisensory dataset containing RGB-D, acoustic, tactile, and 3D data collected from 600 real-world objects across nine in-the-wild environments, with six capture points per object.

Downloads60
Episodes3600

Why This Matters for Physical AI

This dataset enables multimodal representation learning and cross-sensory understanding of physical objects, which is critical for robots to learn rich, grounded perceptions of their environment through multiple sensing modalities.

Technical Profile

Modalities
rgbdepthtactileaudiopoint_cloud
Environment
labhomeoutdoor
Task Types
object_perceptioncross_modal_retrieval
Episodes
3600
License
mit
Part of the X-Capture family

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