DOFS: A Real-world 3D Deformable Object Dataset with Full Spatial Information for Dynamics Model Learning
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | |
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| _version_ | 1866912093009084416 |
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| author | Zhang, Zhen Chu, Xiangyu Tang, Yunxi Au, K. W. Samuel |
| author_facet | Zhang, Zhen Chu, Xiangyu Tang, Yunxi Au, K. W. Samuel |
| contents | This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a transparent operating plane. The dataset consists of active manipulation action, multi-view RGB-D images, well-registered point clouds, 3D deformed mesh, and 3D occupancy with semantics, using a pinching strategy with a two-parallel-finger gripper. In addition, we trained a neural network with the down-sampled 3D occupancy and action as input to model the dynamics of an elasto-plastic object. Our dataset and all CADs of the data collection system will be released soon on our website. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_21758 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | DOFS: A Real-world 3D Deformable Object Dataset with Full Spatial Information for Dynamics Model Learning Zhang, Zhen Chu, Xiangyu Tang, Yunxi Au, K. W. Samuel Computer Vision and Pattern Recognition Robotics This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a transparent operating plane. The dataset consists of active manipulation action, multi-view RGB-D images, well-registered point clouds, 3D deformed mesh, and 3D occupancy with semantics, using a pinching strategy with a two-parallel-finger gripper. In addition, we trained a neural network with the down-sampled 3D occupancy and action as input to model the dynamics of an elasto-plastic object. Our dataset and all CADs of the data collection system will be released soon on our website. |
| title | DOFS: A Real-world 3D Deformable Object Dataset with Full Spatial Information for Dynamics Model Learning |
| topic | Computer Vision and Pattern Recognition Robotics |
| url | https://arxiv.org/abs/2410.21758 |