To download the dataset follow instructions in the main README.
Here we outline the dataset generation process. More details are available in the paper.
The ReplicaCAD dataset is an artist's recreation of the FRL appartment with many different room configurations.
We generated 6 sequences by simulating a locobot moving through two different apartment configurations. There are three types of sequences we generate for each apartment configuration. One navigation sequence (nav), one object reconstruction sequence (obj) and one manipulation sequence (mnp).
To generate the sequences, first install Habitat-Sim. Then the sequences can be generated by running this script
For the ScanNet dataset, we use 6 sequenes. These can be obtained by downloading the ScanNet dataset and exporting the sequences with this script.
We use 3 longer and 3 shorter randomly chosen ScanNet sequences.
Longer: scene0010_00: 6.52m scene0030_00: 6.98m scene0031_00: 7.66m Shorter: scene0004_00: 9.55m scene0005_00: 5.40m scene0009_00: 7.00m
The tabletop dataset consists of 5 short trajectories we collect on the Franka mounted with a Realsense camera. We scan an assortment of YCB objects and a 3D printed Stanford bunny.
Instructions coming soon.