diff --git "a/README.md" "b/README.md" new file mode 100644--- /dev/null +++ "b/README.md" @@ -0,0 +1,10483 @@ +--- +dataset_info: +- config_name: battery_holder-box-cluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994304384 + num_examples: 56 + download_size: 1544044375 + dataset_size: 3994304384 +- config_name: battery_holder-box-cluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994304384 + num_examples: 56 + download_size: 1452161839 + dataset_size: 3994304384 +- config_name: battery_holder-box-cluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994304384 + num_examples: 56 + download_size: 1460072078 + dataset_size: 3994304384 +- config_name: battery_holder-box-cluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994304384 + num_examples: 56 + download_size: 1492096300 + dataset_size: 3994304384 +- config_name: battery_holder-box-cluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994304384 + num_examples: 56 + download_size: 1541331295 + dataset_size: 3994304384 +- config_name: battery_holder-box-cluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994304384 + num_examples: 56 + download_size: 1548557719 + dataset_size: 3994304384 +- config_name: battery_holder-box-uncluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994298000 + num_examples: 56 + download_size: 1575488555 + dataset_size: 3994298000 +- config_name: battery_holder-box-uncluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994298000 + num_examples: 56 + download_size: 1468539762 + dataset_size: 3994298000 +- config_name: battery_holder-box-uncluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994298000 + num_examples: 56 + download_size: 1495272866 + dataset_size: 3994298000 +- config_name: battery_holder-box-uncluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994298000 + num_examples: 56 + download_size: 1488351071 + dataset_size: 3994298000 +- config_name: battery_holder-box-uncluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994298000 + num_examples: 56 + download_size: 1573776773 + dataset_size: 3994298000 +- config_name: battery_holder-box-uncluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994298000 + num_examples: 56 + download_size: 1586232633 + dataset_size: 3994298000 +- config_name: buckle_plug-box-cluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1644747198 + dataset_size: 3994302704 +- config_name: buckle_plug-box-cluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1474549147 + dataset_size: 3994302704 +- config_name: buckle_plug-box-cluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1482565159 + dataset_size: 3994302704 +- config_name: buckle_plug-box-cluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1522652079 + dataset_size: 3994302704 +- config_name: buckle_plug-box-cluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1563051805 + dataset_size: 3994302704 +- config_name: buckle_plug-box-cluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1567900156 + dataset_size: 3994302704 +- config_name: buckle_plug-box-uncluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1587961031 + dataset_size: 3994302704 +- config_name: buckle_plug-box-uncluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1369555043 + dataset_size: 3994302704 +- config_name: buckle_plug-box-uncluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1394813916 + dataset_size: 3994302704 +- config_name: buckle_plug-box-uncluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1399994848 + dataset_size: 3994302704 +- config_name: buckle_plug-box-uncluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1489301484 + dataset_size: 3994302704 +- config_name: buckle_plug-box-uncluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1508378838 + dataset_size: 3994302704 +- config_name: buckle_socket-box-cluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303824 + num_examples: 56 + download_size: 1625604267 + dataset_size: 3994303824 +- config_name: buckle_socket-box-cluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303824 + num_examples: 56 + download_size: 1459921229 + dataset_size: 3994303824 +- config_name: buckle_socket-box-cluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303824 + num_examples: 56 + download_size: 1457799914 + dataset_size: 3994303824 +- config_name: buckle_socket-box-cluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303824 + num_examples: 56 + download_size: 1497729350 + dataset_size: 3994303824 +- config_name: buckle_socket-box-cluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303824 + num_examples: 56 + download_size: 1559271986 + dataset_size: 3994303824 +- config_name: buckle_socket-box-cluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303824 + num_examples: 56 + download_size: 1550865360 + dataset_size: 3994303824 +- config_name: buckle_socket-box-uncluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303824 + num_examples: 56 + download_size: 1526982541 + dataset_size: 3994303824 +- config_name: buckle_socket-box-uncluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303824 + num_examples: 56 + download_size: 1368627780 + dataset_size: 3994303824 +- config_name: buckle_socket-box-uncluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303824 + num_examples: 56 + download_size: 1386505725 + dataset_size: 3994303824 +- config_name: buckle_socket-box-uncluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303824 + num_examples: 56 + download_size: 1421999442 + dataset_size: 3994303824 +- config_name: buckle_socket-box-uncluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303824 + num_examples: 56 + download_size: 1488257758 + dataset_size: 3994303824 +- config_name: buckle_socket-box-uncluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303824 + num_examples: 56 + download_size: 1510365602 + dataset_size: 3994303824 +- config_name: chew_toy_big-box-cluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303264 + num_examples: 56 + download_size: 1595831504 + dataset_size: 3994303264 +- config_name: chew_toy_big-box-cluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303264 + num_examples: 56 + download_size: 1458787211 + dataset_size: 3994303264 +- config_name: chew_toy_big-box-cluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303264 + num_examples: 56 + download_size: 1460643135 + dataset_size: 3994303264 +- config_name: chew_toy_big-box-cluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303264 + num_examples: 56 + download_size: 1492119430 + dataset_size: 3994303264 +- config_name: chew_toy_big-box-cluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303264 + num_examples: 56 + download_size: 1520824425 + dataset_size: 3994303264 +- config_name: chew_toy_big-box-cluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303264 + num_examples: 56 + download_size: 1536901288 + dataset_size: 3994303264 +- config_name: chew_toy_big-box-uncluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303264 + num_examples: 56 + download_size: 1598552514 + dataset_size: 3994303264 +- config_name: chew_toy_big-box-uncluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303264 + num_examples: 56 + download_size: 1447349517 + dataset_size: 3994303264 +- config_name: chew_toy_big-box-uncluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303264 + num_examples: 56 + download_size: 1446925717 + dataset_size: 3994303264 +- config_name: chew_toy_big-box-uncluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303264 + num_examples: 56 + download_size: 1449058859 + dataset_size: 3994303264 +- config_name: chew_toy_big-box-uncluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303264 + num_examples: 56 + download_size: 1536434808 + dataset_size: 3994303264 +- config_name: chew_toy_big-box-uncluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994303264 + num_examples: 56 + download_size: 1553590993 + dataset_size: 3994303264 +- config_name: cpsduck-box-cluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994294472 + num_examples: 56 + download_size: 1578625920 + dataset_size: 3994294472 +- config_name: cpsduck-box-cluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994294472 + num_examples: 56 + download_size: 1428835317 + dataset_size: 3994294472 +- config_name: cpsduck-box-cluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994294472 + num_examples: 56 + download_size: 1434505967 + dataset_size: 3994294472 +- config_name: cpsduck-box-cluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994294472 + num_examples: 56 + download_size: 1465558238 + dataset_size: 3994294472 +- config_name: cpsduck-box-cluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994294472 + num_examples: 56 + download_size: 1501510349 + dataset_size: 3994294472 +- config_name: cpsduck-box-cluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994294472 + num_examples: 56 + download_size: 1525198535 + dataset_size: 3994294472 +- config_name: cpsduck-box-uncluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994294472 + num_examples: 56 + download_size: 1567077329 + dataset_size: 3994294472 +- config_name: cpsduck-box-uncluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994294472 + num_examples: 56 + download_size: 1391809592 + dataset_size: 3994294472 +- config_name: cpsduck-box-uncluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994294472 + num_examples: 56 + download_size: 1390443521 + dataset_size: 3994294472 +- config_name: cpsduck-box-uncluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994294472 + num_examples: 56 + download_size: 1405788180 + dataset_size: 3994294472 +- config_name: cpsduck-box-uncluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994294472 + num_examples: 56 + download_size: 1478877673 + dataset_size: 3994294472 +- config_name: cpsduck-box-uncluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994294472 + num_examples: 56 + download_size: 1495675558 + dataset_size: 3994294472 +- config_name: cpsglue_big-box-cluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994296488 + num_examples: 56 + download_size: 1613418697 + dataset_size: 3994296488 +- config_name: cpsglue_big-box-cluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994296488 + num_examples: 56 + download_size: 1374595084 + dataset_size: 3994296488 +- config_name: cpsglue_big-box-cluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994296488 + num_examples: 56 + download_size: 1360716353 + dataset_size: 3994296488 +- config_name: cpsglue_big-box-cluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994296488 + num_examples: 56 + download_size: 1410124469 + dataset_size: 3994296488 +- config_name: cpsglue_big-box-cluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994296488 + num_examples: 56 + download_size: 1423520403 + dataset_size: 3994296488 +- config_name: cpsglue_big-box-cluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994296488 + num_examples: 56 + download_size: 1428555345 + dataset_size: 3994296488 +- config_name: cpsglue_big-box-uncluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1580904740 + dataset_size: 3994302704 +- config_name: cpsglue_big-box-uncluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1324060242 + dataset_size: 3994302704 +- config_name: cpsglue_big-box-uncluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1323215122 + dataset_size: 3994302704 +- config_name: cpsglue_big-box-uncluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1365663293 + dataset_size: 3994302704 +- config_name: cpsglue_big-box-uncluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1390261698 + dataset_size: 3994302704 +- config_name: cpsglue_big-box-uncluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994302704 + num_examples: 56 + download_size: 1394083958 + dataset_size: 3994302704 +- config_name: group1-array-uncluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994326672 + num_examples: 56 + download_size: 1618136609 + dataset_size: 3994326672 +- config_name: group1-array-uncluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994326672 + num_examples: 56 + download_size: 1386406549 + dataset_size: 3994326672 +- config_name: group1-array-uncluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994326672 + num_examples: 56 + download_size: 1359539522 + dataset_size: 3994326672 +- config_name: group1-array-uncluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994326672 + num_examples: 56 + download_size: 1460446253 + dataset_size: 3994326672 +- config_name: group1-array-uncluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994326672 + num_examples: 56 + download_size: 1470488576 + dataset_size: 3994326672 +- config_name: group1-array-uncluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994326672 + num_examples: 56 + download_size: 1465085647 + dataset_size: 3994326672 +- config_name: group1-box-cluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994382616 + num_examples: 56 + download_size: 1571195201 + dataset_size: 3994382616 +- config_name: group1-box-cluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994382616 + num_examples: 56 + download_size: 1417719826 + dataset_size: 3994382616 +- config_name: group1-box-cluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994382616 + num_examples: 56 + download_size: 1414740135 + dataset_size: 3994382616 +- config_name: group1-box-cluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994382616 + num_examples: 56 + download_size: 1456858775 + dataset_size: 3994382616 +- config_name: group1-box-cluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994382616 + num_examples: 56 + download_size: 1529360340 + dataset_size: 3994382616 +- config_name: group1-box-cluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994382616 + num_examples: 56 + download_size: 1500169400 + dataset_size: 3994382616 +- config_name: group1-box-uncluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994351368 + num_examples: 56 + download_size: 1549173946 + dataset_size: 3994351368 +- config_name: group1-box-uncluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994351368 + num_examples: 56 + download_size: 1394098333 + dataset_size: 3994351368 +- config_name: group1-box-uncluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994351368 + num_examples: 56 + download_size: 1407015689 + dataset_size: 3994351368 +- config_name: group1-box-uncluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994351368 + num_examples: 56 + download_size: 1457240528 + dataset_size: 3994351368 +- config_name: group1-box-uncluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994351368 + num_examples: 56 + download_size: 1506548169 + dataset_size: 3994351368 +- config_name: group1-box-uncluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994351368 + num_examples: 56 + download_size: 1519512927 + dataset_size: 3994351368 +- config_name: group2-array-uncluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994322640 + num_examples: 56 + download_size: 1564592731 + dataset_size: 3994322640 +- config_name: group2-array-uncluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994322640 + num_examples: 56 + download_size: 1246250596 + dataset_size: 3994322640 +- config_name: group2-array-uncluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994322640 + num_examples: 56 + download_size: 1253897935 + dataset_size: 3994322640 +- config_name: group2-array-uncluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994322640 + num_examples: 56 + download_size: 1397218436 + dataset_size: 3994322640 +- config_name: group2-array-uncluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994322640 + num_examples: 56 + download_size: 1396463048 + dataset_size: 3994322640 +- config_name: group2-array-uncluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994322640 + num_examples: 56 + download_size: 1418949071 + dataset_size: 3994322640 +- config_name: group2-box-cluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994353440 + num_examples: 56 + download_size: 1470260651 + dataset_size: 3994353440 +- config_name: group2-box-cluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994353440 + num_examples: 56 + download_size: 1427951530 + dataset_size: 3994353440 +- config_name: group2-box-cluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994353440 + num_examples: 56 + download_size: 1448531961 + dataset_size: 3994353440 +- config_name: group2-box-cluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994353440 + num_examples: 56 + download_size: 1487747634 + dataset_size: 3994353440 +- config_name: group2-box-cluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994353440 + num_examples: 56 + download_size: 1537042793 + dataset_size: 3994353440 +- config_name: group2-box-cluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994353440 + num_examples: 56 + download_size: 1572258884 + dataset_size: 3994353440 +- config_name: group2-box-uncluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994391576 + num_examples: 56 + download_size: 1577789859 + dataset_size: 3994391576 +- config_name: group2-box-uncluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994391576 + num_examples: 56 + download_size: 1411138504 + dataset_size: 3994391576 +- config_name: group2-box-uncluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994391576 + num_examples: 56 + download_size: 1431771712 + dataset_size: 3994391576 +- config_name: group2-box-uncluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994391576 + num_examples: 56 + download_size: 1449133794 + dataset_size: 3994391576 +- config_name: group2-box-uncluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994391576 + num_examples: 56 + download_size: 1532122274 + dataset_size: 3994391576 +- config_name: group2-box-uncluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994391576 + num_examples: 56 + download_size: 1538323324 + dataset_size: 3994391576 +- config_name: nema_holder-box-cluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994278680 + num_examples: 56 + download_size: 1622168767 + dataset_size: 3994278680 +- config_name: nema_holder-box-cluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994278680 + num_examples: 56 + download_size: 1451624394 + dataset_size: 3994278680 +- config_name: nema_holder-box-cluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994278680 + num_examples: 56 + download_size: 1458226695 + dataset_size: 3994278680 +- config_name: nema_holder-box-cluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994278680 + num_examples: 56 + download_size: 1498619739 + dataset_size: 3994278680 +- config_name: nema_holder-box-cluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994278680 + num_examples: 56 + download_size: 1534164098 + dataset_size: 3994278680 +- config_name: nema_holder-box-cluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994278680 + num_examples: 56 + download_size: 1544445573 + dataset_size: 3994278680 +- config_name: nema_holder-box-uncluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994278680 + num_examples: 56 + download_size: 1586318784 + dataset_size: 3994278680 +- config_name: nema_holder-box-uncluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994278680 + num_examples: 56 + download_size: 1376221788 + dataset_size: 3994278680 +- config_name: nema_holder-box-uncluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994278680 + num_examples: 56 + download_size: 1391283983 + dataset_size: 3994278680 +- config_name: nema_holder-box-uncluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994278680 + num_examples: 56 + download_size: 1394293345 + dataset_size: 3994278680 +- config_name: nema_holder-box-uncluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994278680 + num_examples: 56 + download_size: 1489585355 + dataset_size: 3994278680 +- config_name: nema_holder-box-uncluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994278680 + num_examples: 56 + download_size: 1490642018 + dataset_size: 3994278680 +- config_name: stapler-box-cluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994300464 + num_examples: 56 + download_size: 1577491823 + dataset_size: 3994300464 +- config_name: stapler-box-cluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994300464 + num_examples: 56 + download_size: 1409805163 + dataset_size: 3994300464 +- config_name: stapler-box-cluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994300464 + num_examples: 56 + download_size: 1425451897 + dataset_size: 3994300464 +- config_name: stapler-box-cluttered-normal + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994300464 + num_examples: 56 + download_size: 1465315296 + dataset_size: 3994300464 +- config_name: stapler-box-cluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994300464 + num_examples: 56 + download_size: 1487604705 + dataset_size: 3994300464 +- config_name: stapler-box-cluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994300464 + num_examples: 56 + download_size: 1526669304 + dataset_size: 3994300464 +- config_name: stapler-box-uncluttered-dark + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994300464 + num_examples: 56 + download_size: 1571166555 + dataset_size: 3994300464 +- config_name: stapler-box-uncluttered-diffuseLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994300464 + num_examples: 56 + download_size: 1415222596 + dataset_size: 3994300464 +- config_name: stapler-box-uncluttered-diffuseRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994300464 + num_examples: 56 + download_size: 1426813764 + dataset_size: 3994300464 +- config_name: stapler-box-uncluttered-spotLeft + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994300464 + num_examples: 56 + download_size: 1529060478 + dataset_size: 3994300464 +- config_name: stapler-box-uncluttered-spotRight + features: + - name: rgb + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: rgb_R + dtype: + array3_d: + shape: + - 1242 + - 2208 + - 3 + dtype: uint8 + - name: depth + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: depth_gt + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: float32 + - name: mask + dtype: + array2_d: + shape: + - 1242 + - 2208 + dtype: int32 + - name: obj_ids + sequence: int32 + - name: obj_classes + sequence: string + - name: obj_pos + sequence: + sequence: float32 + - name: obj_rot + sequence: + sequence: float32 + - name: obj_bbox_obj + sequence: + sequence: int32 + - name: obj_bbox_visib + sequence: + sequence: int32 + - name: cam_location + sequence: float32 + - name: cam_rotation + sequence: float32 + - name: cam_matrix + dtype: + array2_d: + shape: + - 3 + - 3 + dtype: float32 + - name: obj_px_count_all + sequence: int32 + - name: obj_px_count_valid + sequence: int32 + - name: obj_px_count_visib + sequence: int32 + - name: obj_visib_fract + sequence: float32 + splits: + - name: test + num_bytes: 3994300464 + num_examples: 56 + download_size: 1545163323 + dataset_size: 3994300464 +---