{"url":"/dataset/dream-dataset","name":"DREAM-dataset","full_name":"Deep Robot-to-camera Extrinsics for Articulated Manipulators","description_markdown":"The DREAM dataset is introduce by the paper \"Camera-to-Robot Pose Estimation from a Single Image\" (ICRA 2020).\r\nThis dataset consists of synthetic images (both with and without domain randomlization) of three different robot manipulators (Franka Emika’s Panda, Kuka’s LBR iiwa 7 R800, and Rethink Robotics’ Baxter) , as well as real-world images of Franka Emika’s Panda taken from various RGBD cameras (XBox 360 Kinect (XK), RealSense (RS), and Azure Kinect (AK)).\r\nEach instance in the dataset contains an RGB image, keypoint 3D/2D coordinates , global camera-to-robot transformation and joint state configurations (from both revolute and prismatic joint) of the robot.\r\nTasks like estimating robot pose (camera pose)  from a single RGB image, camera-to-robot calibration can be conducted and evaluated in this dataset.","description_withheld":null,"homepage":"https://research.nvidia.com/publication/2020-05_camera-robot-pose-estimation-single-image","introduced_date":"2019-11-21","introduced_date_note":null,"introduced_by":{"paper":"/paper/camera-to-robot-pose-estimation-from-a-single","title":"Camera-to-Robot Pose Estimation from a Single Image","first_author":null,"url":null},"license":{"name":"NVIDIA Source Code License - Non-commercial","url":"https://github.com/NVlabs/DREAM/blob/master/LICENSE.md"},"modalities":[{"name":"Images","url":"/datasets/modality/images"}],"tasks":[{"name":"Pose Estimation","url":"/task/pose-estimation","datasets_with_task":"/datasets/task/pose-estimation"},{"name":"Robot Pose Estimation","url":"/task/robot-pose-estimation","datasets_with_task":"/datasets/task/robot-pose-estimation"}],"languages":[{"name":"English","url":"/datasets/language/english"}],"variants":["DREAM-dataset"],"data_loaders":[],"num_papers_in_archive":5,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[{"leaderboard":"/sota/robot-pose-estimation-on-dream-dataset","task":"Robot Pose Estimation","dataset_variant":"DREAM-dataset","rows":5,"metrics":["AUC (avg. on 4 real DREAM datasets)","mean-ADD (avg. on 4 real DREAM datasets)"],"first_row_in_archive_order":{"model":"Holistic-Robot-Pose (known-joint)","paper":"/paper/real-time-holistic-robot-pose-estimation-with","metrics":{"AUC (avg. on 4 real DREAM datasets)":"87.7","mean-ADD (avg. on 4 real DREAM datasets)":"15.0"},"code_links":[{"title":"Oliverbansk/Hollistic-Robot-Pose-Estimation","url":"https://github.com/Oliverbansk/Hollistic-Robot-Pose-Estimation"},{"title":"oliverbansk/holistic-robot-pose-estimation","url":"https://github.com/oliverbansk/holistic-robot-pose-estimation"}]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"}],"papers_with_a_benchmark_row":[{"paper":"/paper/real-time-holistic-robot-pose-estimation-with","title":"Real-time Holistic Robot Pose Estimation with Unknown States","date":"2024-02-08","rows_on_this_dataset":2,"code_links":2,"syntology":{"read_at":"2026-09-25T09:33:49+00:00","samples_harvested":7,"samples_ran":4,"samples_unverified":3,"pointer_only_for_licence":7,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/markerless-camera-to-robot-pose-estimation","title":"Markerless Camera-to-Robot Pose Estimation via Self-supervised Sim-to-Real Transfer","date":"2023-02-28","rows_on_this_dataset":1,"code_links":0,"syntology":null},{"paper":"/paper/single-view-robot-pose-and-joint-angle","title":"Single-view robot pose and joint angle estimation via render & compare","date":"2021-04-19","rows_on_this_dataset":2,"code_links":0,"syntology":null}],"syntology_totals":{"read_at":"2026-09-25T09:33:49+00:00","papers_with_samples":1,"samples_harvested":7,"samples_ran":4,"samples_unverified":3,"pointer_only_for_licence":7,"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."}