--- dataset_info: features: - name: image dtype: image - name: depth dtype: image - name: mask dtype: image - name: transform_matrix sequence: sequence: float64 length: 4 length: 4 - name: rotation dtype: float32 splits: - name: cube_mmncvx_ampoule num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_ampoule num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_ampoule num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_beaker num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_beaker num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_beaker num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_conical_flask num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_conical_flask num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_conical_flask num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_flower_vase num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_flower_vase num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_flower_vase num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_graduated_cylinder num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_graduated_cylinder num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_graduated_cylinder num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_household_item_set num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_household_item_set num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_household_item_set num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_perfume_red num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_perfume_red num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_perfume_red num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_perfume_yellow num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_perfume_yellow num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_perfume_yellow num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_plastic_bottle num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_plastic_bottle num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_plastic_bottle num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_reed_diffuser num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_reed_diffuser num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_reed_diffuser num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_round_bottom_flask num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_round_bottom_flask num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_round_bottom_flask num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_skull_bottle num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_skull_bottle num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_skull_bottle num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_star_shaped_bottle num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_star_shaped_bottle num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_star_shaped_bottle num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_syringe num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_syringe num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_syringe num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_teacup num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_teacup num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_teacup num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_test_tube num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_test_tube num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_test_tube num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_vial num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_vial num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_vial num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_water_pitcher num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_water_pitcher num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_water_pitcher num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_wine_glass num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_wine_glass num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_wine_glass num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_wisolt_kettle num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_wisolt_kettle num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_wisolt_kettle num_bytes: 673141617 num_examples: 300 - name: cube_smcvx_ball num_bytes: 673141617 num_examples: 300 - name: cube_smcvx_ball_coloured num_bytes: 673141617 num_examples: 300 - name: cube_smcvx_cube num_bytes: 673141617 num_examples: 300 - name: cube_smcvx_cube_coloured num_bytes: 673141617 num_examples: 300 - name: cube_smcvx_cylinder num_bytes: 673141617 num_examples: 300 - name: cube_smcvx_cylinder_coloured num_bytes: 673141617 num_examples: 300 - name: cube_smcvx_diamond num_bytes: 673141617 num_examples: 300 - name: cube_smcvx_pyramid num_bytes: 673141617 num_examples: 300 - name: cube_smcvx_pyramid_coloured num_bytes: 673141617 num_examples: 300 - name: cube_mmncvx_lab_equipment_set num_bytes: 673141617 num_examples: 300 - name: sphere_mmncvx_lab_equipment_set num_bytes: 673141617 num_examples: 300 - name: env_mmncvx_lab_equipment_set num_bytes: 673141617 num_examples: 300 - name: sphere_smcvx_ball_coloured num_bytes: 673141617 num_examples: 300 - name: sphere_smcvx_cube num_bytes: 673141617 num_examples: 300 - name: sphere_smcvx_cube_coloured num_bytes: 673141617 num_examples: 300 - name: sphere_smcvx_cylinder num_bytes: 673141617 num_examples: 300 - name: sphere_smcvx_cylinder_coloured num_bytes: 673141617 num_examples: 300 - name: sphere_smcvx_diamond num_bytes: 673141617 num_examples: 300 - name: sphere_smcvx_pyramid num_bytes: 673141617 num_examples: 300 - name: sphere_smcvx_pyramid_coloured num_bytes: 673141617 num_examples: 300 - name: sphere_smcvx_ball num_bytes: 673141617 num_examples: 300 - name: env_smcvx_ball num_bytes: 673141617 num_examples: 300 - name: env_smcvx_ball_coloured num_bytes: 673141617 num_examples: 300 - name: env_smcvx_cube num_bytes: 673141617 num_examples: 300 - name: env_smcvx_cube_coloured num_bytes: 673141617 num_examples: 300 - name: env_smcvx_cylinder num_bytes: 673141617 num_examples: 300 - name: env_smcvx_cylinder_coloured num_bytes: 673141617 num_examples: 300 - name: env_smcvx_diamond num_bytes: 673141617 num_examples: 300 - name: env_smcvx_pyramid num_bytes: 673141617 num_examples: 300 - name: env_smcvx_pyramid_coloured num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_candle_holder num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_cat num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_cola num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_cow num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_crystal_vase num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_demijohn_vase num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_dog num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_fox num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_generic_sculpture num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_Korken_jar num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_light_bulb num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_magnifier num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_man_sculpture num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_monkey num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_sleeping_dragon num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_teapot num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_torus num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_torus_coloured num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_Vardagen_jar num_bytes: 673141617 num_examples: 300 - name: cube_smncvx_woman_sculpture num_bytes: 673141617 num_examples: 300 - name: env_smncvx_candle_holder num_bytes: 673141617 num_examples: 300 - name: env_smncvx_cat num_bytes: 673141617 num_examples: 300 - name: env_smncvx_cola num_bytes: 673141617 num_examples: 300 - name: env_smncvx_cow num_bytes: 673141617 num_examples: 300 - name: env_smncvx_crystal_vase num_bytes: 673141617 num_examples: 300 - name: env_smncvx_demijohn_vase num_bytes: 673141617 num_examples: 300 - name: env_smncvx_dog num_bytes: 673141617 num_examples: 300 - name: env_smncvx_fox num_bytes: 673141617 num_examples: 300 - name: env_smncvx_generic_sculpture num_bytes: 673141617 num_examples: 300 - name: env_smncvx_Korken_jar num_bytes: 673141617 num_examples: 300 - name: env_smncvx_light_bulb num_bytes: 673141617 num_examples: 300 - name: env_smncvx_magnifier num_bytes: 673141617 num_examples: 300 - name: env_smncvx_man_sculpture num_bytes: 673141617 num_examples: 300 - name: env_smncvx_monkey num_bytes: 673141617 num_examples: 300 - name: env_smncvx_sleeping_dragon num_bytes: 673141617 num_examples: 300 - name: env_smncvx_teapot num_bytes: 673141617 num_examples: 300 - name: env_smncvx_torus num_bytes: 673141617 num_examples: 300 - name: env_smncvx_torus_coloured num_bytes: 673141617 num_examples: 300 - name: env_smncvx_Vardagen_jar num_bytes: 673141617 num_examples: 300 - name: env_smncvx_woman_sculpture num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_candle_holder num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_cat num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_cola num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_cow num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_crystal_vase num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_demijohn_vase num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_dog num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_fox num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_generic_sculpture num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_Korken_jar num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_light_bulb num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_magnifier num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_man_sculpture num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_monkey num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_sleeping_dragon num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_teapot num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_torus num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_torus_coloured num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_Vardagen_jar num_bytes: 673141617 num_examples: 300 - name: sphere_smncvx_woman_sculpture num_bytes: 673141617 num_examples: 300 download_size: 41285178720 dataset_size: 100971242550 configs: - config_name: cubebg_multiple-non-convex data_files: - split: cube_mmncvx_ampoule path: data/cube_mmncvx_ampoule-* - split: cube_mmncvx_beaker path: data/cube_mmncvx_beaker-* - split: cube_mmncvx_conical_flask path: data/cube_mmncvx_conical_flask-* - split: cube_mmncvx_flower_vase path: data/cube_mmncvx_flower_vase-* - split: cube_mmncvx_graduated_cylinder path: data/cube_mmncvx_graduated_cylinder-* - split: cube_mmncvx_household_item_set path: data/cube_mmncvx_household_item_set-* - split: cube_mmncvx_lab_equipment_set path: data/cube_mmncvx_lab_equipment_set-* - split: cube_mmncvx_perfume_red path: data/cube_mmncvx_perfume_red-* - split: cube_mmncvx_perfume_yellow path: data/cube_mmncvx_perfume_yellow-* - split: cube_mmncvx_plastic_bottle path: data/cube_mmncvx_plastic_bottle-* - split: cube_mmncvx_reed_diffuser path: data/cube_mmncvx_reed_diffuser-* - split: cube_mmncvx_round_bottom_flask path: data/cube_mmncvx_round_bottom_flask-* - split: cube_mmncvx_skull_bottle path: data/cube_mmncvx_skull_bottle-* - split: cube_mmncvx_star_shaped_bottle path: data/cube_mmncvx_star_shaped_bottle-* - split: cube_mmncvx_syringe path: data/cube_mmncvx_syringe-* - split: cube_mmncvx_teacup path: data/cube_mmncvx_teacup-* - split: cube_mmncvx_test_tube path: data/cube_mmncvx_test_tube-* - split: cube_mmncvx_vial path: data/cube_mmncvx_vial-* - split: cube_mmncvx_water_pitcher path: data/cube_mmncvx_water_pitcher-* - split: cube_mmncvx_wine_glass path: data/cube_mmncvx_wine_glass-* - split: cube_mmncvx_wisolt_kettle path: data/cube_mmncvx_wisolt_kettle-* - config_name: cubebg_single-convex data_files: - split: cube_smcvx_ball path: data/cube_smcvx_ball-* - split: cube_smcvx_ball_coloured path: data/cube_smcvx_ball_coloured-* - split: cube_smcvx_cube path: data/cube_smcvx_cube-* - split: cube_smcvx_cube_coloured path: data/cube_smcvx_cube_coloured-* - split: cube_smcvx_cylinder path: data/cube_smcvx_cylinder-* - split: cube_smcvx_cylinder_coloured path: data/cube_smcvx_cylinder_coloured-* - split: cube_smcvx_diamond path: data/cube_smcvx_diamond-* - split: cube_smcvx_pyramid path: data/cube_smcvx_pyramid-* - split: cube_smcvx_pyramid_coloured path: data/cube_smcvx_pyramid_coloured-* - config_name: cubebg_single-non-convex data_files: - split: cube_smncvx_candle_holder path: data/cube_smncvx_candle_holder-* - split: cube_smncvx_cat path: data/cube_smncvx_cat-* - split: cube_smncvx_cola path: data/cube_smncvx_cola-* - split: cube_smncvx_cow path: data/cube_smncvx_cow-* - split: cube_smncvx_crystal_vase path: data/cube_smncvx_crystal_vase-* - split: cube_smncvx_demijohn_vase path: data/cube_smncvx_demijohn_vase-* - split: cube_smncvx_dog path: data/cube_smncvx_dog-* - split: cube_smncvx_fox path: data/cube_smncvx_fox-* - split: cube_smncvx_generic_sculpture path: data/cube_smncvx_generic_sculpture-* - split: cube_smncvx_Korken_jar path: data/cube_smncvx_Korken_jar-* - split: cube_smncvx_light_bulb path: data/cube_smncvx_light_bulb-* - split: cube_smncvx_magnifier path: data/cube_smncvx_magnifier-* - split: cube_smncvx_man_sculpture path: data/cube_smncvx_man_sculpture-* - split: cube_smncvx_monkey path: data/cube_smncvx_monkey-* - split: cube_smncvx_sleeping_dragon path: data/cube_smncvx_sleeping_dragon-* - split: cube_smncvx_teapot path: data/cube_smncvx_teapot-* - split: cube_smncvx_torus path: data/cube_smncvx_torus-* - split: cube_smncvx_torus_coloured path: data/cube_smncvx_torus_coloured-* - split: cube_smncvx_Vardagen_jar path: data/cube_smncvx_Vardagen_jar-* - split: cube_smncvx_woman_sculpture path: data/cube_smncvx_woman_sculpture-* - config_name: envbg_multiple-non-convex data_files: - split: env_mmncvx_ampoule path: data/env_mmncvx_ampoule-* - split: env_mmncvx_beaker path: data/env_mmncvx_beaker-* - split: env_mmncvx_conical_flask path: data/env_mmncvx_conical_flask-* - split: env_mmncvx_flower_vase path: data/env_mmncvx_flower_vase-* - split: env_mmncvx_graduated_cylinder path: data/env_mmncvx_graduated_cylinder-* - split: env_mmncvx_household_item_set path: data/env_mmncvx_household_item_set-* - split: env_mmncvx_lab_equipment_set path: data/env_mmncvx_lab_equipment_set-* - split: env_mmncvx_perfume_red path: data/env_mmncvx_perfume_red-* - split: env_mmncvx_perfume_yellow path: data/env_mmncvx_perfume_yellow-* - split: env_mmncvx_plastic_bottle path: data/env_mmncvx_plastic_bottle-* - split: env_mmncvx_reed_diffuser path: data/env_mmncvx_reed_diffuser-* - split: env_mmncvx_round_bottom_flask path: data/env_mmncvx_round_bottom_flask-* - split: env_mmncvx_skull_bottle path: data/env_mmncvx_skull_bottle-* - split: env_mmncvx_star_shaped_bottle path: data/env_mmncvx_star_shaped_bottle-* - split: env_mmncvx_syringe path: data/env_mmncvx_syringe-* - split: env_mmncvx_teacup path: data/env_mmncvx_teacup-* - split: env_mmncvx_test_tube path: data/env_mmncvx_test_tube-* - split: env_mmncvx_vial path: data/env_mmncvx_vial-* - split: env_mmncvx_water_pitcher path: data/env_mmncvx_water_pitcher-* - split: env_mmncvx_wine_glass path: data/env_mmncvx_wine_glass-* - split: env_mmncvx_wisolt_kettle path: data/env_mmncvx_wisolt_kettle-* - config_name: envbg_single-convex data_files: - split: env_smcvx_ball path: data/env_smcvx_ball-* - split: env_smcvx_ball_coloured path: data/env_smcvx_ball_coloured-* - split: env_smcvx_cube path: data/env_smcvx_cube-* - split: env_smcvx_cube_coloured path: data/env_smcvx_cube_coloured-* - split: env_smcvx_cylinder path: data/env_smcvx_cylinder-* - split: env_smcvx_cylinder_coloured path: data/env_smcvx_cylinder_coloured-* - split: env_smcvx_diamond path: data/env_smcvx_diamond-* - split: env_smcvx_pyramid path: data/env_smcvx_pyramid-* - split: env_smcvx_pyramid_coloured path: data/env_smcvx_pyramid_coloured-* - config_name: envbg_single-non-convex data_files: - split: env_smncvx_candle_holder path: data/env_smncvx_candle_holder-* - split: env_smncvx_cat path: data/env_smncvx_cat-* - split: env_smncvx_cola path: data/env_smncvx_cola-* - split: env_smncvx_cow path: data/env_smncvx_cow-* - split: env_smncvx_crystal_vase path: data/env_smncvx_crystal_vase-* - split: env_smncvx_demijohn_vase path: data/env_smncvx_demijohn_vase-* - split: env_smncvx_dog path: data/env_smncvx_dog-* - split: env_smncvx_fox path: data/env_smncvx_fox-* - split: env_smncvx_generic_sculpture path: data/env_smncvx_generic_sculpture-* - split: env_smncvx_Korken_jar path: data/env_smncvx_Korken_jar-* - split: env_smncvx_light_bulb path: data/env_smncvx_light_bulb-* - split: env_smncvx_magnifier path: data/env_smncvx_magnifier-* - split: env_smncvx_man_sculpture path: data/env_smncvx_man_sculpture-* - split: env_smncvx_monkey path: data/env_smncvx_monkey-* - split: env_smncvx_sleeping_dragon path: data/env_smncvx_sleeping_dragon-* - split: env_smncvx_teapot path: data/env_smncvx_teapot-* - split: env_smncvx_torus path: data/env_smncvx_torus-* - split: env_smncvx_torus_coloured path: data/env_smncvx_torus_coloured-* - split: env_smncvx_Vardagen_jar path: data/env_smncvx_Vardagen_jar-* - split: env_smncvx_woman_sculpture path: data/env_smncvx_woman_sculpture-* - config_name: spherebg_multiple-non-convex data_files: - split: sphere_mmncvx_ampoule path: data/sphere_mmncvx_ampoule-* - split: sphere_mmncvx_beaker path: data/sphere_mmncvx_beaker-* - split: sphere_mmncvx_conical_flask path: data/sphere_mmncvx_conical_flask-* - split: sphere_mmncvx_flower_vase path: data/sphere_mmncvx_flower_vase-* - split: sphere_mmncvx_graduated_cylinder path: data/sphere_mmncvx_graduated_cylinder-* - split: sphere_mmncvx_household_item_set path: data/sphere_mmncvx_household_item_set-* - split: sphere_mmncvx_lab_equipment_set path: data/sphere_mmncvx_lab_equipment_set-* - split: sphere_mmncvx_perfume_red path: data/sphere_mmncvx_perfume_red-* - split: sphere_mmncvx_perfume_yellow path: data/sphere_mmncvx_perfume_yellow-* - split: sphere_mmncvx_plastic_bottle path: data/sphere_mmncvx_plastic_bottle-* - split: sphere_mmncvx_reed_diffuser path: data/sphere_mmncvx_reed_diffuser-* - split: sphere_mmncvx_round_bottom_flask path: data/sphere_mmncvx_round_bottom_flask-* - split: sphere_mmncvx_skull_bottle path: data/sphere_mmncvx_skull_bottle-* - split: sphere_mmncvx_star_shaped_bottle path: data/sphere_mmncvx_star_shaped_bottle-* - split: sphere_mmncvx_syringe path: data/sphere_mmncvx_syringe-* - split: sphere_mmncvx_teacup path: data/sphere_mmncvx_teacup-* - split: sphere_mmncvx_test_tube path: data/sphere_mmncvx_test_tube-* - split: sphere_mmncvx_vial path: data/sphere_mmncvx_vial-* - split: sphere_mmncvx_water_pitcher path: data/sphere_mmncvx_water_pitcher-* - split: sphere_mmncvx_wine_glass path: data/sphere_mmncvx_wine_glass-* - split: sphere_mmncvx_wisolt_kettle path: data/sphere_mmncvx_wisolt_kettle-* - config_name: spherebg_single-convex data_files: - split: sphere_smcvx_ball path: data/sphere_smcvx_ball-* - split: sphere_smcvx_ball_coloured path: data/sphere_smcvx_ball_coloured-* - split: sphere_smcvx_cube path: data/sphere_smcvx_cube-* - split: sphere_smcvx_cube_coloured path: data/sphere_smcvx_cube_coloured-* - split: sphere_smcvx_cylinder path: data/sphere_smcvx_cylinder-* - split: sphere_smcvx_cylinder_coloured path: data/sphere_smcvx_cylinder_coloured-* - split: sphere_smcvx_diamond path: data/sphere_smcvx_diamond-* - split: sphere_smcvx_pyramid path: data/sphere_smcvx_pyramid-* - split: sphere_smcvx_pyramid_coloured path: data/sphere_smcvx_pyramid_coloured-* - config_name: spherebg_single-non-convex data_files: - split: sphere_smncvx_candle_holder path: data/sphere_smncvx_candle_holder-* - split: sphere_smncvx_cat path: data/sphere_smncvx_cat-* - split: sphere_smncvx_cola path: data/sphere_smncvx_cola-* - split: sphere_smncvx_cow path: data/sphere_smncvx_cow-* - split: sphere_smncvx_crystal_vase path: data/sphere_smncvx_crystal_vase-* - split: sphere_smncvx_demijohn_vase path: data/sphere_smncvx_demijohn_vase-* - split: sphere_smncvx_dog path: data/sphere_smncvx_dog-* - split: sphere_smncvx_fox path: data/sphere_smncvx_fox-* - split: sphere_smncvx_generic_sculpture path: data/sphere_smncvx_generic_sculpture-* - split: sphere_smncvx_Korken_jar path: data/sphere_smncvx_Korken_jar-* - split: sphere_smncvx_light_bulb path: data/sphere_smncvx_light_bulb-* - split: sphere_smncvx_magnifier path: data/sphere_smncvx_magnifier-* - split: sphere_smncvx_man_sculpture path: data/sphere_smncvx_man_sculpture-* - split: sphere_smncvx_monkey path: data/sphere_smncvx_monkey-* - split: sphere_smncvx_sleeping_dragon path: data/sphere_smncvx_sleeping_dragon-* - split: sphere_smncvx_teapot path: data/sphere_smncvx_teapot-* - split: sphere_smncvx_torus path: data/sphere_smncvx_torus-* - split: sphere_smncvx_torus_coloured path: data/sphere_smncvx_torus_coloured-* - split: sphere_smncvx_Vardagen_jar path: data/sphere_smncvx_Vardagen_jar-* - split: sphere_smncvx_woman_sculpture path: data/sphere_smncvx_woman_sculpture-* task_categories: - image-to-3d language: - en size_categories: - 10KRefRef: A Synthetic Dataset and Benchmark for Reconstructing Refractive and Reflective Objects
Yue Yin · Enze Tao · Weijian Deng · Dylan Campbell

Abstract

Modern 3D reconstruction and novel view synthesis approaches have demonstrated strong performance on scenes with opaque Lambertian objects. However, most assume straight light paths and therefore cannot properly handle refractive and reflective materials. Moreover, datasets specialized for these effects are limited, stymieing efforts to evaluate performance and develop suitable techniques. In this work, we introduce a synthetic RefRef dataset and benchmark for reconstructing scenes with refractive and reflective objects from posed images. Our dataset has 50 such objects of varying complexity, from single-material convex shapes to multi-material non-convex shapes, each placed in three different background types, resulting in 150 scenes. We also propose an oracle method that, given the object geometry and refractive indices, calculates accurate light paths for neural rendering, and an approach based on this that avoids these assumptions. We benchmark these against several state-of-the-art methods and show that all methods lag significantly behind the oracle, highlighting the challenges of the task and dataset.

## Dataset Overview RefRef is a synthetic dataset and benchmark designed for the task of reconstructing scenes with complex refractive and reflective objects. Our dataset consists of 50 objects categorized based on their geometric and material complexity: single-material convex objects, single-material non-convex objects, and multi-material non-convex objects, where the materials have different colors, opacities, and refractive indices. Each object is placed in three distinct bounded environments and one unbounded environment, resulting in 150 unique scenes with diverse geometries, material properties, and backgrounds. Our dataset provides a controlled setting for evaluating and developing 3D reconstruction and novel view synthesis methods that handle complex optical effects. ## Directory Structure ``` RefRef/ ├── data # parquet files ├── README.md ├── scene_list.txt # A list of all 150 scenes └── object_materials.json # Optical material properties (IOR values) and categories for all objects ``` ## Object and Scenes The dataset includes 50 objects categorised into three groups based on their complexity, material composition, and shape: - `single-convex`(27 scenes): Objects with convex geometries, each composed of a single refractive material, such as transparent cubes, balls, and pyramids. - `single-non-convex`(60 scenes): Objects with non-convex geometries, each composed of a single refractive material, such as animal sculptures, glass jars, light bulbs, candle holders, and magnifiers. - `multiple-non-convex`(63 scenes): Objects with non-convex geometries, each composed of multiple refractive materials or a combination of refractive and opaque materials, such as reed diffusers, a glass of wine, and flasks filled with chemical liquid. Each object is placed in three distinct scenes: - `textured_cube_scene`: Objects placed within a bounded textured cube environment. - `textured_sphere_scene`: Objects placed within a bounded textured sphere environment. - `environment_map_scene`: Objects placed in an unbounded environment map background. ## Citation ``` @misc{yin2025refrefsyntheticdatasetbenchmark, title={RefRef: A Synthetic Dataset and Benchmark for Reconstructing Refractive and Reflective Objects}, author={Yue Yin and Enze Tao and Weijian Deng and Dylan Campbell}, year={2025}, eprint={2505.05848}, archivePrefix={arXiv}, primaryClass={cs.CV}, url={https://arxiv.org/abs/2505.05848}, } ```