What it is
3D indoor scenes with fine-grained interactive parts, affordances, motion, and language, paired with RGB-D video views and 2D/3D projections. 710 indoor scenes with high-res Faro point clouds plus RGB-D iPad videos; 14,867 annotated interactive elements with 9 affordance classes, motion parameters, and task descriptions, linked across 3D boxes and 2D frame projections.
Key results
- 710 real-world indoor scenes
- 14,867 functional element annotations, 9 affordance classes
- RGB-D videos + 3D point clouds; CC BY-NC-SA 4.0
Useful for 3D affordance grounding, manipulation target localization, and motion prediction in indoor scenes.