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UnCommon Objects in 3D

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arxiv 2501.07574 v1 pith:J3PGI2KF submitted 2025-01-13 cs.CV cs.AIcs.GR

Xingchen Liu , Piyush Tayal , Jianyuan Wang , Jesus Zarzar , Tom Monnier , Konstantinos Tertikas , Jiali Duan , Antoine Toisoul
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Jason Y. Zhang Natalia Neverova Andrea Vedaldi Roman Shapovalov David Novotny
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classification cs.CVcs.AIcs.GR
keywords uco3dannotationsobjectsco3dv2learningmvimgnetobjectquality
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abstract

We introduce Uncommon Objects in 3D (uCO3D), a new object-centric dataset for 3D deep learning and 3D generative AI. uCO3D is the largest publicly-available collection of high-resolution videos of objects with 3D annotations that ensures full-360$^{\circ}$ coverage. uCO3D is significantly more diverse than MVImgNet and CO3Dv2, covering more than 1,000 object categories. It is also of higher quality, due to extensive quality checks of both the collected videos and the 3D annotations. Similar to analogous datasets, uCO3D contains annotations for 3D camera poses, depth maps and sparse point clouds. In addition, each object is equipped with a caption and a 3D Gaussian Splat reconstruction. We train several large 3D models on MVImgNet, CO3Dv2, and uCO3D and obtain superior results using the latter, showing that uCO3D is better for learning applications.

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  1. RoboPearls: Editable Video Simulation for Robot Manipulation

    cs.CV 2025-06 conditional novelty 5.0 of 10

    RoboPearls is a 3D Gaussian Splatting based framework that edits demonstration videos into varied photorealistic simulations, and training on them improves robot manipulation success rates on RLBench and COLOSSEUM.

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