datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
ycb-fixed-meshesThis folder has updated versions of the YCB meshes. All updates are in google_16k folders for each object.
The following updated are available:
nontextured_proc.stl: These are simplified meshes with the normals fixed recommended to be used as collision models. (Note: The normal fixes has to be done manually so not all meshes are verfied, feel free to update them using meshlab, blender, etc).
nontextured_binvox.bt: These file are voxelised representation of the meshes (resolution up to 1mm).… See the full description on the dataset page: https://huggingface.co/datasets/ll4ma-lab/ycb-fixed-meshes.YCB_Video_Datasetsparse-metric-anchors-ycb
Sparse Metric Anchors — YCB benchmark
The 42-object benchmark behind the paper Sparse Metric Anchors for a Single-View 3D
Generative Prior: The Output Frame Is the Bottleneck (ISIR, Sorbonne Université,
2026). Code and paper: github.com/635jack/sparse-metric-anchors — its colab/reproduce.ipynb recomputes every table of the paper from this dataset on a CPU runtime.
The paper asks what limits the injection of a few metric measurements — tactile
contacts, one depth map — into a… See the full description on the dataset page: https://huggingface.co/datasets/jack635/sparse-metric-anchors-ycb.ycbev
YCB-Ev 1.1: Event-vision dataset for 6DoF object pose estimation
The YCB-Ev dataset contains synchronized RGB-D frames and event data that enables evaluating 6DoF object pose estimation algorithms using these modalities. This dataset provides ground truth 6DoF object poses for the same 21 YCB objects that were used in the YCB-Video (YCB-V) dataset, allowing for cross-dataset algorithm performance evaluation. The dataset consists of 21 synchronized event and RGB-D sequences… See the full description on the dataset page: https://huggingface.co/datasets/paroj/ycbev.eden_ycbycbev_sd
YCB-Ev SD: Synthetic event-vision dataset for 6DoF object pose estimation
We introduce YCB-Ev SD, a synthetic dataset of event-camera data at standard definition (SD) resolution for 6DoF object pose estimation. While synthetic data has become fundamental in frame-based computer vision, event-based vision lacks comparable comprehensive resources. Addressing this gap, we present 50,000 event sequences of 34 ms duration each, synthesized from Physically Based Rendering (PBR) scenes of… See the full description on the dataset page: https://huggingface.co/datasets/paroj/ycbev_sd.ycbvideo_lerobotbop-ycbv-episode