{"url":"/dataset/realart-6","name":"RealArt-6","full_name":null,"description_markdown":"This is the official dataset collected for ![RPMArt](https://paperswithcode.com/paper/rpmart-towards-robust-perception-and) to test the sim-to-real transfer. It contains 6 articulated object instances, each captured from 20 camera views under 5 states in scenarios with and without background, as well as presence or absence of distractors.\r\n\r\nAll data are collected by a wrist-mounted Intel RealSense L515 LiDAR camera on a 7-DOF Franka Emika robot arm. The details of collection process are presented in the ![paper](https://arxiv.org/abs/2403.16023).","description_withheld":null,"homepage":"https://r-pmart.github.io/","introduced_date":"2024-03-24","introduced_date_note":null,"introduced_by":{"paper":"/paper/rpmart-towards-robust-perception-and","title":"RPMArt: Towards Robust Perception and Manipulation for Articulated Objects","first_author":"JunBo Wang","url":null},"license":{"name":"Creative Commons Attribution 4.0 International (CC BY 4.0)","url":"https://creativecommons.org/licenses/by/4.0/"},"modalities":[{"name":"3D","url":"/datasets/modality/3d"},{"name":"Point cloud","url":"/datasets/modality/point-cloud"}],"tasks":[{"name":"Pose Estimation","url":"/task/pose-estimation","datasets_with_task":"/datasets/task/pose-estimation"},{"name":"Articulated Object modelling","url":"/task/articulated-object-modelling","datasets_with_task":"/datasets/task/articulated-object-modelling"}],"languages":[],"variants":["RealArt-6"],"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."}