{"url":"/dataset/contactpose","name":"ContactPose","full_name":null,"description_markdown":"ContactPose is a dataset of hand-object contact paired with hand pose, object pose, and RGB-D images. ContactPose has 2306 unique grasps of 25 household objects grasped with 2 functional intents by 50 participants, and more than 2.9 M RGB-D grasp images. \r\n\r\nSource: [ContactPose: A Dataset of Grasps with Object Contact and Hand Pose](/paper/contactpose-a-dataset-of-grasps-with-object)","description_withheld":null,"homepage":"https://github.com/facebookresearch/ContactPose","introduced_date":null,"introduced_date_note":null,"introduced_by":{"paper":"/paper/contactpose-a-dataset-of-grasps-with-object","title":"ContactPose: A Dataset of Grasps with Object Contact and Hand Pose","first_author":"Samarth Brahmbhatt","url":null},"license":null,"modalities":[],"tasks":[{"name":"Grasp Contact Prediction","url":"/task/human-grasp-contact-prediction","datasets_with_task":"/datasets/task/human-grasp-contact-prediction"}],"languages":[],"variants":["ContactPose"],"data_loaders":[{"repo":"https://github.com/facebookresearch/ContactPose","url":"https://github.com/facebookresearch/ContactPose","frameworks":[]}],"num_papers_in_archive":26,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[{"leaderboard":"/sota/grasp-contact-prediction-on-contactpose","task":"Grasp Contact Prediction","dataset_variant":"ContactPose","rows":1,"metrics":["AUC"],"first_row_in_archive_order":{"model":"MLP + mesh-features","paper":"/paper/contactpose-a-dataset-of-grasps-with-object","metrics":{"AUC":"84.74"},"code_links":[{"title":"facebookresearch/ContactPose","url":"https://github.com/facebookresearch/ContactPose"},{"title":"samarth-robo/ContactPose-ML","url":"https://github.com/samarth-robo/ContactPose-ML"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"}],"papers_with_a_benchmark_row":[{"paper":"/paper/contactpose-a-dataset-of-grasps-with-object","title":"ContactPose: A Dataset of Grasps with Object Contact and Hand Pose","date":"2020-07-19","rows_on_this_dataset":1,"code_links":2,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":4,"samples_ran":3,"samples_unverified":1,"pointer_only_for_licence":0,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}}],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":1,"samples_harvested":4,"samples_ran":3,"samples_unverified":1,"pointer_only_for_licence":0,"papers_with_no_sample_that_ran":0,"note":"the per-paper counts above, summed; not a rate"},"papers_note":"The archive never published its papers-using-dataset list; these are papers with a leaderboard row on this dataset's benchmarks."}