1,019 machine learning datasets
1,019 dataset results
We present the HANDAL dataset for category-level object pose estimation and affordance prediction. Unlike previous datasets, ours is focused on robotics-ready manipulable objects that are of the proper size and shape for functional grasping by robot manipulators, such as pliers, utensils, and screwdrivers. Our annotation process is streamlined, requiring only a single off-the-shelf camera and semi-automated processing, allowing us to produce high-quality 3D annotations without crowd-sourcing. The dataset consists of 308k annotated image frames from 2.2k videos of 212 real-world objects in 17 categories. We focus on hardware and kitchen tool objects to facilitate research in practical scenarios in which a robot manipulator needs to interact with the environment beyond simple pushing or indiscriminate grasping. We outline the usefulness of our dataset for 6-DoF category-level pose+scale estimation and related tasks. We also provide 3D reconstructed meshes of all objects, and we outline s
VideoXum is an enriched large-scale dataset for cross-modal video summarization. The dataset is built on ActivityNet Captions. The datasets includes three subtasks: Video-to-Video Summarization (V2V-SUM), Video-to-Text Summarization (V2T-SUM), and Video-to-Video&Text Summarization (V2VT-SUM).
OpenS2V-Eval introduces 180 prompts from seven major categories of S2V, which incorporate both real and synthetic test data. Furthermore, to accurately align human preferences with S2V benchmarks, we propose three automatic metrics: NexusScore, NaturalScore, GmeScore to separately quantify subject consistency, naturalness, and text relevance in generated videos. Building on this, we conduct a comprehensive evaluation of 14 representative S2V models, highlighting their strengths and weaknesses across different content.
Are current 3D object tracking methods truely robust enough for low-fidelity depth sensors like the iPhone LiDAR? We introduce DTTD-Mobile (fully compatible w/ YCB toolbox), a new benchmark built on real-world data captured from mobile devices; 18 objects observed in 100 videos with 47,668 sampled frames and 114,143 object annotations. We evaluate several popular methods—including BundleSDF, ES6D, MegaPose, and DenseFusion—and highlight their limitations in this challenging setting.
The TUM Kitchen dataset is an action recognition dataset that contains 20 video sequences captured by 4 cameras with overlapping views. The camera network captures the scene from four viewpoints with 25 fps, and every RGB frame is of the resolution 384×288 by pixels. The action labels are frame-wise, and provided for the left arm, the right arm and the torso separately.
The SynthHands dataset is a dataset for hand pose estimation which consists of real captured hand motion retargeted to a virtual hand with natural backgrounds and interactions with different objects. The dataset contains data for male and female hands, both with and without interaction with objects. While the hand and foreground object are synthtically generated using Unity, the motion was obtained from real performances as described in the accompanying paper. In addition, real object textures and background images (depth and color) were used. Ground truth 3D positions are provided for 21 keypoints of the hand.
The Atari Grand Challenge dataset is a large dataset of human Atari 2600 replays. It consists of replays for 5 different games: * Space Invaders (445 episodes, 2M frames) * Q*bert (659 episodes, 1.6M frames) * Ms.Pacman (384 episodes, 1.7M frames) * Video Pinball (211 episodes, 1.5M frames) * Montezuma’s revenge (668 episodes, 2.7M frames)
MonoPerfCap is a benchmark dataset for human 3D performance capture from monocular video input consisting of around 40k frames, which covers a variety of different scenarios.
The Privacy Annotated HMDB51 (PA-HMDB51) dataset is a video-based dataset for evaluating pirvacy protection in visual action recognition algorithms. The dataset contains both target task labels (action) and selected privacy attributes (skin color, face, gender, nudity, and relationship) annotated on a per-frame basis.
SVD is a large-scale short video dataset, which contains over 500,000 short videos collected from http://www.douyin.com and over 30,000 labeled pairs of near-duplicate videos.
YouTube-BoundingBoxes (YT-BB) is a large-scale data set of video URLs with densely-sampled object bounding box annotations. The data set consists of approximately 380,000 video segments about 19s long, automatically selected to feature objects in natural settings without editing or post-processing, with a recording quality often akin to that of a hand-held cell phone camera. The objects represent a subset of the MS COCO label set. All video segments were human-annotated with high-precision classification labels and bounding boxes at 1 frame per second.
UBI-Fights - Concerning a specific anomaly detection and still providing a wide diversity in fighting scenarios, the UBI-Fights dataset is a unique new large-scale dataset of 80 hours of video fully annotated at the frame level. Consisting of 1000 videos, where 216 videos contain a fight event, and 784 are normal daily life situations. All unnecessary video segments (e.g., video introductions, news, etc.) that could disturb the learning process were removed.
ORBIT is a real-world few-shot dataset and benchmark grounded in a real-world application of teachable object recognizers for people who are blind/low vision. The dataset contains 3,822 videos of 486 objects recorded by people who are blind/low-vision on their mobile phones, and the benchmark reflects a realistic, highly challenging recognition problem, providing a rich playground to drive research in robustness to few-shot, high-variation conditions.
The KUMC dataset for polyp detection and classification was collected from the University of Kansas Medical Center. It contains 80 colonoscopy video sequences which are manually labeled with bounding boxes as well as the polyp classes for the entire dataset.
LDV is a dataset for video enhancement. It contains 240 videos with diverse categories of content, different kinds of motion and various frame-rates.
Planar object tracking is an actively studied problem in vision-based robotic applications. While several benchmarks have been constructed for evaluating state-of-theart algorithms, there is a lack of video sequences captured in the wild rather than in constrained laboratory environment. In this paper, we present a carefully designed planar object tracking benchmark containing 210 videos of 30 planar objects sampled in the natural environment. In particular, for each object, we shoot seven videos involving various challenging factors, namely scale change, rotation, perspective distortion, motion blur, occlusion, out-of-view, and unconstrained. The ground truth is carefully annotated semi-manually to ensure the quality. Moreover, eleven state-of-the-art algorithms are evaluated on the benchmark using two evaluation metrics, with detailed analysis provided for the evaluation results. We expect the proposed benchmark to benefit future studies on planar object tracking.
VPCD contains multi-modal annotations (face, body and voice) for all primary and secondary characters from a range of diverse TV-shows and movies. It is used for evaluating multi-modal person-clustering. It contains body-tracks for each annotated character, face-tracks when visible, and voice-tracks when speaking, with their associated features.
VidHOI is a video-based human-object interaction detection benchmark. VidHOI is based on VidOR which is densely annotated with all humans and predefined objects showing up in each frame. VidOR is also more challenging as the videos are non-volunteering user-generated and thus jittery at times.
ChangeSim is a dataset aimed at online scene change detection (SCD) and more. The data is collected in photo-realistic simulation environments with the presence of environmental non-targeted variations, such as air turbidity and light condition changes, as well as targeted object changes in industrial indoor environments. By collecting data in simulations, multi-modal sensor data and precise ground truth labels are obtainable such as the RGB image, depth image, semantic segmentation, change segmentation, camera poses, and 3D reconstructions. While the previous online SCD datasets evaluate models given well-aligned image pairs, ChangeSim also provides raw unpaired sequences that present an opportunity to develop an online SCD model in an end-to-end manner, considering both pairing and detection. Experiments show that even the latest pair-based SCD models suffer from the bottleneck of the pairing process, and it gets worse when the environment contains the non-targeted variations.
SynPick is a synthetic dataset for dynamic scene understanding in bin-picking scenarios. In contrast to existing datasets, this dataset is both situated in a realistic industrial application domain -- inspired by the well-known Amazon Robotics Challenge (ARC) -- and features dynamic scenes with authentic picking actions as chosen by our picking heuristic developed for the ARC 2017. The dataset is compatible with the popular BOP dataset format.