CLARU
varunburdecc-by-4.0

PerceptPick Benchmark

A large-scale physics-based benchmark evaluating 6D pose estimators and 3D mesh models based on their functional efficacy in robotic grasping. The dataset analyzes how 3D reconstruction quality and pose estimation accuracy impact grasp success on YCB objects.

Downloads662

Technical Profile

Modalities
rgb3d_meshpose_estimates
Environment
simulation
Task Types
graspingpose_estimation3d_reconstruction
Data Format
BOP-style CSV
License
cc-by-4.0
Part of the PerceptPick Benchmark family

Community Signals

Top 50% by downloads

Access

View on HuggingFace

Need custom rgb data?

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

Request a Sample Pack

Related Datasets

ABC-130k

The largest open-source robot teleoperation dataset containing bimanual manipulation trajectories collected on two-arm YAM stations with 130,822 episodes across 3,555 hours of data.

rgbproprioception
412K downloadsJun 2026apache-2.0

Hy-Embodied-0.5-VLA-Data

A large-scale bimanual manipulation dataset with 2,163 hours of high-fidelity demonstrations collected via custom fingertip UMI device with optical motion-capture, spanning 70+ manipulation tasks for training Vision-Language-Action foundation models.

rgbproprioceptionlanguage
160K downloadsJun 2026cc-by-4.0

T-Rex Dataset

A large-scale, tactile-reactive bimanual manipulation dataset collected via teleoperation on a Dexmate Vega-1 robot with two Sharpa Wave dexterous hands, featuring 5,464 episodes with tactile, RGB, and proprioceptive observations.

rgbtactileforce_torqueproprioception
140K downloadsJun 2026MIT

OmniAction

A large-scale multimodal dataset for proactive robot manipulation comprising 141,162 episodes with cross-modal contextual instructions derived from spoken dialogue, environmental sounds, and visual cues rather than explicit commands.

rgbaudiolanguage
87K downloadsMar 2026cc-by-nc-4.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation with 141,162 episodes covering contextual instruction following through spoken dialogue, environmental sounds, and visual cues. The dataset includes 5,096 distinct speaker timbres, 2,482 non-verbal sound events, and 640 environmental backgrounds across six categories of contextual instructions.

rgbaudiolanguage
86K downloadsApr 2026cc-by-nc-4.0

OmniAction

A large-scale multimodal dataset for proactive robot manipulation with 141,162 episodes covering contextual instruction following through spoken dialogue, environmental sounds, and visual cues.

rgbaudiolanguage
83K downloadsApr 2026cc-by-nc-4.0