{"url":"/dataset/graspclutter6d","name":"GraspClutter6D","full_name":null,"description_markdown":"GraspClutter6D is a large-scale real-world dataset for robust object perception and robotic grasping in cluttered environments. It features 1,000 highly cluttered scenes with dense arrangements (average 14.1 objects/scene with 62.6% occlusion), 200 household, industrial, and warehouse objects captured in 75 diverse environment configurations (bins, shelves, and tables), multi-view data from 4 RGB-D cameras (RealSense D415, D435, Azure Kinect, and Zivid One+), and comprehensive annotations including 736K 6D object poses and 9.3 billion feasible robotic grasps for 52K RGB-D images. The dataset provides a challenging testbed for segmentation, 6D pose estimation, and grasp detection algorithms in realistic cluttered scenarios.","description_withheld":null,"homepage":"https://sites.google.com/view/graspclutter6d","introduced_date":"2025-04-09","introduced_date_note":null,"introduced_by":{"paper":"/paper/graspclutter6d-a-large-scale-real-world","title":"GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenes","first_author":"Seunghyeok Back","url":null},"license":{"name":"Creative Commons NonCommercial license","url":"https://en.wikipedia.org/wiki/Creative_Commons_NonCommercial_license"},"modalities":[{"name":"Images","url":"/datasets/modality/images"},{"name":"3d meshes","url":"/datasets/modality/3d-meshes"},{"name":"RGB-D","url":"/datasets/modality/rgb-d"},{"name":"6D","url":"/datasets/modality/6d"}],"tasks":[{"name":"Instance Segmentation","url":"/task/instance-segmentation","datasets_with_task":"/datasets/task/instance-segmentation"},{"name":"6D Pose Estimation","url":"/task/6d-pose-estimation-1","datasets_with_task":"/datasets/task/6d-pose-estimation-1"},{"name":"Robotic Grasping","url":"/task/robotic-grasping","datasets_with_task":"/datasets/task/robotic-grasping"}],"languages":[],"variants":["GraspClutter6D"],"data_loaders":[],"num_papers_in_archive":1,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[],"papers_with_a_benchmark_row":[],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":0,"samples_harvested":0,"samples_ran":0,"samples_unverified":0,"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."}