Multi-Modal Geometric Learning for Grasping and Manipulation
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Live Split
Black And Decker Lithium Drill Driver
(current)
Clorox Disinfecting Wipes 35
(current)
Domino Sugar 1Lb
(current)
Frenchs Classic Yellow Mustard 14Oz
(current)
Master Chef Ground Coffee 297G
(current)
Pringles Original
(current)
Rubbermaid Ice Guard Pitcher Blue
(current)
Soft Scrub 2Lb 4Oz
(current)
Holdout Models Holdout Views
Banana Poisson 004
(current)
Block Of Wood 6In
(current)
Book Poisson 002
(current)
Book Poisson 003
(current)
Book Poisson 008
(current)
Book Poisson 015
(current)
Bowl Poisson 005
(current)
Bowl Poisson 015
(current)
Box Poisson 019
(current)
Box Poisson 023
(current)
Camera Poisson 014
(current)
Can Poisson 001
(current)
Can Poisson 014
(current)
Cellphone Poisson 009
(current)
Donut Poisson 005
(current)
Egg Poisson 011
(current)
Flashlight Poisson 001
(current)
Hammer Poisson 001
(current)
Hammer Poisson 001
(current)
Hammer Poisson 006
(current)
Hammer Poisson 031
(current)
Horseshoe Poisson 000
(current)
Knife Poisson 004
(current)
Knife Poisson 011
(current)
Knife Poisson 032
(current)
Melissa Doug Farm Fresh Fruit Banana
(current)
Mushroom Poisson 007
(current)
Mushroom Poisson 007
(current)
Mushroom Poisson 013
(current)
Mushroom Poisson 013
(current)
Pitcher Poisson 003
(current)
Pliers Poisson 000
(current)
Remote Poisson 012
(current)
Remote Poisson 012
(current)
Remote Poisson 012
(current)
Remote Poisson 013
(current)
Remote Poisson 016
(current)
Soccer Ball Poisson 003
(current)
Soccer Ball Poisson 007
(current)
Stapler Poisson 007
(current)
Stapler Poisson 023
(current)
Tetra Pak Poisson 020
(current)
Toaster Poisson 009
(current)
Toilet Paper Poisson 000
(current)
Toy Poisson 001
(current)
Toy Poisson 019
(current)
Trash Can Poisson 011
(current)
Violin Poisson 016
(current)
Watermelon Poisson 001
(current)
Train Models Holdout Views
Banana Poisson 001
(current)
Book Poisson 010
(current)
Box Poisson 005
(current)
Box Poisson 006
(current)
Box Poisson 015
(current)
Box Poisson 024
(current)
Camera Poisson 020
(current)
Can Poisson 000
(current)
Can Poisson 006
(current)
Can Poisson 021
(current)
Cellphone Poisson 033
(current)
Donut Poisson 000
(current)
Donut Poisson 008
(current)
Hammer Poisson 011
(current)
Hammer Poisson 035
(current)
Jar Poisson 000
(current)
Jar Poisson 010
(current)
Kettle Poisson 005
(current)
Light Bulb Poisson 002
(current)
Light Bulb Poisson 009
(current)
Light Bulb Poisson 011
(current)
Notebook Poisson 021
(current)
Pliers Poisson 004
(current)
Remote Poisson 009
(current)
Remote Poisson 015
(current)
Screwdriver Poisson 016
(current)
Shampoo New Poisson 001
(current)
Spray Bottle Poisson 001
(current)
Squash Poisson 000
(current)
Stapler Poisson 003
(current)
Sweet Corn Poisson 000
(current)
Tetra Pak Poisson 002
(current)
Tetra Pak Poisson 011
(current)
Tetra Pak Poisson 013
(current)
Tetra Pak Poisson 019
(current)
Toaster Poisson 010
(current)
Toaster Poisson 010
(current)
Toilet Paper Poisson 004
(current)
Toilet Poisson 003
(current)
Toy Poisson 016
(current)
Trash Can Poisson 039
(current)
Trash Can Poisson 040
(current)
Violin Poisson 010
(current)
Violin Poisson 012
(current)
Watermelon Poisson 000
(current)
Wrench Poisson 000
(current)
Wrench Poisson 007
(current)
Wrench Poisson 011
(current)
Wrench Poisson 014
(current)
Wrench Poisson 017
(current)
Train Models Train Views
Banana Poisson 000
(current)
Binder Poisson 004
(current)
Book Poisson 000
(current)
Book Poisson 001
(current)
Book Poisson 009
(current)
Boot Poisson 004
(current)
Bowl Poisson 022
(current)
Bowl Poisson 025
(current)
Box Poisson 025
(current)
Can Poisson 004
(current)
Can Poisson 015
(current)
Can Poisson 022
(current)
Cellphone Poisson 004
(current)
Champagne Glass Poisson 001
(current)
Egg Poisson 005
(current)
Egg Poisson 008
(current)
Flashlight Poisson 004
(current)
Hammer Poisson 011
(current)
Horseshoe Poisson 001
(current)
Jar Poisson 000
(current)
Jar Poisson 001
(current)
Jar Poisson 004
(current)
Jar Poisson 019
(current)
Knife Poisson 023
(current)
Light Bulb Poisson 008
(current)
Mushroom Poisson 008
(current)
Notebook Poisson 046
(current)
Notebook Poisson 051
(current)
Pitcher Poisson 001
(current)
Rubbermaid Ice Guard Pitcher Blue
(current)
Spatula Poisson 002
(current)
Spray Bottle Poisson 002
(current)
Sweet Corn Poisson 000
(current)
Tetra Pak Poisson 007
(current)
Tetra Pak Poisson 021
(current)
Toaster Poisson 000
(current)
Toaster Poisson 005
(current)
Toaster Poisson 008
(current)
Toaster Poisson 008
(current)
Toilet Paper Poisson 003
(current)
Toilet Paper Poisson 005
(current)
Trash Can Poisson 014
(current)
Trash Can Poisson 028
(current)
Trash Can Poisson 028
(current)
Trash Can Poisson 034
(current)
Trash Can Poisson 036
(current)
Trash Can Poisson 044
(current)
Trash Can Poisson 049
(current)
Wrench Poisson 009
(current)
Wrench Poisson 023
(current)
Trash Can Poisson 028
Point Cloud (Depth cloud in red, Tactile cloud in blue)
Partial View
Completion
Ground Truth