README.md

---
dataset_info:
  features:
  - name: image
    dtype: image
  - name: depth
    dtype: image
  - name: mask
    dtype: image
  - name: transform_matrix
    sequence:
      sequence: float64
      length: 4
    length: 4
  - name: rotation
    dtype: float32
  splits:
  - name: cube_mmncvx_ampoule
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_ampoule
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_ampoule
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_beaker
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_beaker
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_beaker
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_conical_flask
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_conical_flask
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_conical_flask
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_flower_vase
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_flower_vase
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_flower_vase
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_graduated_cylinder
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_graduated_cylinder
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_graduated_cylinder
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_household_item_set
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_household_item_set
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_household_item_set
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_perfume_red
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_perfume_red
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_perfume_red
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_perfume_yellow
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_perfume_yellow
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_perfume_yellow
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_plastic_bottle
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_plastic_bottle
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_plastic_bottle
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_reed_diffuser
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_reed_diffuser
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_reed_diffuser
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_round_bottom_flask
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_round_bottom_flask
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_round_bottom_flask
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_skull_bottle
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_skull_bottle
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_skull_bottle
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_star_shaped_bottle
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_star_shaped_bottle
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_star_shaped_bottle
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_syringe
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_syringe
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_syringe
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_teacup
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_teacup
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_teacup
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_test_tube
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_test_tube
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_test_tube
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_vial
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_vial
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_vial
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_water_pitcher
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_water_pitcher
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_water_pitcher
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_wine_glass
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_wine_glass
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_wine_glass
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_wisolt_kettle
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_wisolt_kettle
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_wisolt_kettle
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smcvx_ball
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smcvx_ball_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smcvx_cube
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smcvx_cube_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smcvx_cylinder
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smcvx_cylinder_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smcvx_diamond
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smcvx_pyramid
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smcvx_pyramid_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: cube_mmncvx_lab_equipment_set
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_mmncvx_lab_equipment_set
    num_bytes: 673141617
    num_examples: 300
  - name: env_mmncvx_lab_equipment_set
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smcvx_ball_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smcvx_cube
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smcvx_cube_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smcvx_cylinder
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smcvx_cylinder_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smcvx_diamond
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smcvx_pyramid
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smcvx_pyramid_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smcvx_ball
    num_bytes: 673141617
    num_examples: 300
  - name: env_smcvx_ball
    num_bytes: 673141617
    num_examples: 300
  - name: env_smcvx_ball_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: env_smcvx_cube
    num_bytes: 673141617
    num_examples: 300
  - name: env_smcvx_cube_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: env_smcvx_cylinder
    num_bytes: 673141617
    num_examples: 300
  - name: env_smcvx_cylinder_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: env_smcvx_diamond
    num_bytes: 673141617
    num_examples: 300
  - name: env_smcvx_pyramid
    num_bytes: 673141617
    num_examples: 300
  - name: env_smcvx_pyramid_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_candle_holder
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_cat
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_cola
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_cow
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_crystal_vase
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_demijohn_vase
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_dog
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_fox
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_generic_sculpture
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_Korken_jar
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_light_bulb
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_magnifier
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_man_sculpture
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_monkey
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_sleeping_dragon
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_teapot
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_torus
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_torus_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_Vardagen_jar
    num_bytes: 673141617
    num_examples: 300
  - name: cube_smncvx_woman_sculpture
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_candle_holder
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_cat
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_cola
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_cow
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_crystal_vase
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_demijohn_vase
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_dog
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_fox
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_generic_sculpture
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_Korken_jar
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_light_bulb
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_magnifier
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_man_sculpture
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_monkey
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_sleeping_dragon
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_teapot
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_torus
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_torus_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_Vardagen_jar
    num_bytes: 673141617
    num_examples: 300
  - name: env_smncvx_woman_sculpture
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_candle_holder
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_cat
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_cola
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_cow
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_crystal_vase
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_demijohn_vase
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_dog
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_fox
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_generic_sculpture
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_Korken_jar
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_light_bulb
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_magnifier
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_man_sculpture
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_monkey
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_sleeping_dragon
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_teapot
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_torus
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_torus_coloured
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_Vardagen_jar
    num_bytes: 673141617
    num_examples: 300
  - name: sphere_smncvx_woman_sculpture
    num_bytes: 673141617
    num_examples: 300
  download_size: 41285178720
  dataset_size: 100971242550
configs:
- config_name: cubebg_multiple-non-convex
  data_files:
  - split: cube_mmncvx_ampoule
    path: data/cube_mmncvx_ampoule-*
  - split: cube_mmncvx_beaker
    path: data/cube_mmncvx_beaker-*
  - split: cube_mmncvx_conical_flask
    path: data/cube_mmncvx_conical_flask-*
  - split: cube_mmncvx_flower_vase
    path: data/cube_mmncvx_flower_vase-*
  - split: cube_mmncvx_graduated_cylinder
    path: data/cube_mmncvx_graduated_cylinder-*
  - split: cube_mmncvx_household_item_set
    path: data/cube_mmncvx_household_item_set-*
  - split: cube_mmncvx_lab_equipment_set
    path: data/cube_mmncvx_lab_equipment_set-*
  - split: cube_mmncvx_perfume_red
    path: data/cube_mmncvx_perfume_red-*
  - split: cube_mmncvx_perfume_yellow
    path: data/cube_mmncvx_perfume_yellow-*
  - split: cube_mmncvx_plastic_bottle
    path: data/cube_mmncvx_plastic_bottle-*
  - split: cube_mmncvx_reed_diffuser
    path: data/cube_mmncvx_reed_diffuser-*
  - split: cube_mmncvx_round_bottom_flask
    path: data/cube_mmncvx_round_bottom_flask-*
  - split: cube_mmncvx_skull_bottle
    path: data/cube_mmncvx_skull_bottle-*
  - split: cube_mmncvx_star_shaped_bottle
    path: data/cube_mmncvx_star_shaped_bottle-*
  - split: cube_mmncvx_syringe
    path: data/cube_mmncvx_syringe-*
  - split: cube_mmncvx_teacup
    path: data/cube_mmncvx_teacup-*
  - split: cube_mmncvx_test_tube
    path: data/cube_mmncvx_test_tube-*
  - split: cube_mmncvx_vial
    path: data/cube_mmncvx_vial-*
  - split: cube_mmncvx_water_pitcher
    path: data/cube_mmncvx_water_pitcher-*
  - split: cube_mmncvx_wine_glass
    path: data/cube_mmncvx_wine_glass-*
  - split: cube_mmncvx_wisolt_kettle
    path: data/cube_mmncvx_wisolt_kettle-*
- config_name: cubebg_single-convex
  data_files:
  - split: cube_smcvx_ball
    path: data/cube_smcvx_ball-*
  - split: cube_smcvx_ball_coloured
    path: data/cube_smcvx_ball_coloured-*
  - split: cube_smcvx_cube
    path: data/cube_smcvx_cube-*
  - split: cube_smcvx_cube_coloured
    path: data/cube_smcvx_cube_coloured-*
  - split: cube_smcvx_cylinder
    path: data/cube_smcvx_cylinder-*
  - split: cube_smcvx_cylinder_coloured
    path: data/cube_smcvx_cylinder_coloured-*
  - split: cube_smcvx_diamond
    path: data/cube_smcvx_diamond-*
  - split: cube_smcvx_pyramid
    path: data/cube_smcvx_pyramid-*
  - split: cube_smcvx_pyramid_coloured
    path: data/cube_smcvx_pyramid_coloured-*
- config_name: cubebg_single-non-convex
  data_files:
  - split: cube_smncvx_candle_holder
    path: data/cube_smncvx_candle_holder-*
  - split: cube_smncvx_cat
    path: data/cube_smncvx_cat-*
  - split: cube_smncvx_cola
    path: data/cube_smncvx_cola-*
  - split: cube_smncvx_cow
    path: data/cube_smncvx_cow-*
  - split: cube_smncvx_crystal_vase
    path: data/cube_smncvx_crystal_vase-*
  - split: cube_smncvx_demijohn_vase
    path: data/cube_smncvx_demijohn_vase-*
  - split: cube_smncvx_dog
    path: data/cube_smncvx_dog-*
  - split: cube_smncvx_fox
    path: data/cube_smncvx_fox-*
  - split: cube_smncvx_generic_sculpture
    path: data/cube_smncvx_generic_sculpture-*
  - split: cube_smncvx_Korken_jar
    path: data/cube_smncvx_Korken_jar-*
  - split: cube_smncvx_light_bulb
    path: data/cube_smncvx_light_bulb-*
  - split: cube_smncvx_magnifier
    path: data/cube_smncvx_magnifier-*
  - split: cube_smncvx_man_sculpture
    path: data/cube_smncvx_man_sculpture-*
  - split: cube_smncvx_monkey
    path: data/cube_smncvx_monkey-*
  - split: cube_smncvx_sleeping_dragon
    path: data/cube_smncvx_sleeping_dragon-*
  - split: cube_smncvx_teapot
    path: data/cube_smncvx_teapot-*
  - split: cube_smncvx_torus
    path: data/cube_smncvx_torus-*
  - split: cube_smncvx_torus_coloured
    path: data/cube_smncvx_torus_coloured-*
  - split: cube_smncvx_Vardagen_jar
    path: data/cube_smncvx_Vardagen_jar-*
  - split: cube_smncvx_woman_sculpture
    path: data/cube_smncvx_woman_sculpture-*
- config_name: envbg_multiple-non-convex
  data_files:
  - split: env_mmncvx_ampoule
    path: data/env_mmncvx_ampoule-*
  - split: env_mmncvx_beaker
    path: data/env_mmncvx_beaker-*
  - split: env_mmncvx_conical_flask
    path: data/env_mmncvx_conical_flask-*
  - split: env_mmncvx_flower_vase
    path: data/env_mmncvx_flower_vase-*
  - split: env_mmncvx_graduated_cylinder
    path: data/env_mmncvx_graduated_cylinder-*
  - split: env_mmncvx_household_item_set
    path: data/env_mmncvx_household_item_set-*
  - split: env_mmncvx_lab_equipment_set
    path: data/env_mmncvx_lab_equipment_set-*
  - split: env_mmncvx_perfume_red
    path: data/env_mmncvx_perfume_red-*
  - split: env_mmncvx_perfume_yellow
    path: data/env_mmncvx_perfume_yellow-*
  - split: env_mmncvx_plastic_bottle
    path: data/env_mmncvx_plastic_bottle-*
  - split: env_mmncvx_reed_diffuser
    path: data/env_mmncvx_reed_diffuser-*
  - split: env_mmncvx_round_bottom_flask
    path: data/env_mmncvx_round_bottom_flask-*
  - split: env_mmncvx_skull_bottle
    path: data/env_mmncvx_skull_bottle-*
  - split: env_mmncvx_star_shaped_bottle
    path: data/env_mmncvx_star_shaped_bottle-*
  - split: env_mmncvx_syringe
    path: data/env_mmncvx_syringe-*
  - split: env_mmncvx_teacup
    path: data/env_mmncvx_teacup-*
  - split: env_mmncvx_test_tube
    path: data/env_mmncvx_test_tube-*
  - split: env_mmncvx_vial
    path: data/env_mmncvx_vial-*
  - split: env_mmncvx_water_pitcher
    path: data/env_mmncvx_water_pitcher-*
  - split: env_mmncvx_wine_glass
    path: data/env_mmncvx_wine_glass-*
  - split: env_mmncvx_wisolt_kettle
    path: data/env_mmncvx_wisolt_kettle-*
- config_name: envbg_single-convex
  data_files:
  - split: env_smcvx_ball
    path: data/env_smcvx_ball-*
  - split: env_smcvx_ball_coloured
    path: data/env_smcvx_ball_coloured-*
  - split: env_smcvx_cube
    path: data/env_smcvx_cube-*
  - split: env_smcvx_cube_coloured
    path: data/env_smcvx_cube_coloured-*
  - split: env_smcvx_cylinder
    path: data/env_smcvx_cylinder-*
  - split: env_smcvx_cylinder_coloured
    path: data/env_smcvx_cylinder_coloured-*
  - split: env_smcvx_diamond
    path: data/env_smcvx_diamond-*
  - split: env_smcvx_pyramid
    path: data/env_smcvx_pyramid-*
  - split: env_smcvx_pyramid_coloured
    path: data/env_smcvx_pyramid_coloured-*
- config_name: envbg_single-non-convex
  data_files:
  - split: env_smncvx_candle_holder
    path: data/env_smncvx_candle_holder-*
  - split: env_smncvx_cat
    path: data/env_smncvx_cat-*
  - split: env_smncvx_cola
    path: data/env_smncvx_cola-*
  - split: env_smncvx_cow
    path: data/env_smncvx_cow-*
  - split: env_smncvx_crystal_vase
    path: data/env_smncvx_crystal_vase-*
  - split: env_smncvx_demijohn_vase
    path: data/env_smncvx_demijohn_vase-*
  - split: env_smncvx_dog
    path: data/env_smncvx_dog-*
  - split: env_smncvx_fox
    path: data/env_smncvx_fox-*
  - split: env_smncvx_generic_sculpture
    path: data/env_smncvx_generic_sculpture-*
  - split: env_smncvx_Korken_jar
    path: data/env_smncvx_Korken_jar-*
  - split: env_smncvx_light_bulb
    path: data/env_smncvx_light_bulb-*
  - split: env_smncvx_magnifier
    path: data/env_smncvx_magnifier-*
  - split: env_smncvx_man_sculpture
    path: data/env_smncvx_man_sculpture-*
  - split: env_smncvx_monkey
    path: data/env_smncvx_monkey-*
  - split: env_smncvx_sleeping_dragon
    path: data/env_smncvx_sleeping_dragon-*
  - split: env_smncvx_teapot
    path: data/env_smncvx_teapot-*
  - split: env_smncvx_torus
    path: data/env_smncvx_torus-*
  - split: env_smncvx_torus_coloured
    path: data/env_smncvx_torus_coloured-*
  - split: env_smncvx_Vardagen_jar
    path: data/env_smncvx_Vardagen_jar-*
  - split: env_smncvx_woman_sculpture
    path: data/env_smncvx_woman_sculpture-*
- config_name: spherebg_multiple-non-convex
  data_files:
  - split: sphere_mmncvx_ampoule
    path: data/sphere_mmncvx_ampoule-*
  - split: sphere_mmncvx_beaker
    path: data/sphere_mmncvx_beaker-*
  - split: sphere_mmncvx_conical_flask
    path: data/sphere_mmncvx_conical_flask-*
  - split: sphere_mmncvx_flower_vase
    path: data/sphere_mmncvx_flower_vase-*
  - split: sphere_mmncvx_graduated_cylinder
    path: data/sphere_mmncvx_graduated_cylinder-*
  - split: sphere_mmncvx_household_item_set
    path: data/sphere_mmncvx_household_item_set-*
  - split: sphere_mmncvx_lab_equipment_set
    path: data/sphere_mmncvx_lab_equipment_set-*
  - split: sphere_mmncvx_perfume_red
    path: data/sphere_mmncvx_perfume_red-*
  - split: sphere_mmncvx_perfume_yellow
    path: data/sphere_mmncvx_perfume_yellow-*
  - split: sphere_mmncvx_plastic_bottle
    path: data/sphere_mmncvx_plastic_bottle-*
  - split: sphere_mmncvx_reed_diffuser
    path: data/sphere_mmncvx_reed_diffuser-*
  - split: sphere_mmncvx_round_bottom_flask
    path: data/sphere_mmncvx_round_bottom_flask-*
  - split: sphere_mmncvx_skull_bottle
    path: data/sphere_mmncvx_skull_bottle-*
  - split: sphere_mmncvx_star_shaped_bottle
    path: data/sphere_mmncvx_star_shaped_bottle-*
  - split: sphere_mmncvx_syringe
    path: data/sphere_mmncvx_syringe-*
  - split: sphere_mmncvx_teacup
    path: data/sphere_mmncvx_teacup-*
  - split: sphere_mmncvx_test_tube
    path: data/sphere_mmncvx_test_tube-*
  - split: sphere_mmncvx_vial
    path: data/sphere_mmncvx_vial-*
  - split: sphere_mmncvx_water_pitcher
    path: data/sphere_mmncvx_water_pitcher-*
  - split: sphere_mmncvx_wine_glass
    path: data/sphere_mmncvx_wine_glass-*
  - split: sphere_mmncvx_wisolt_kettle
    path: data/sphere_mmncvx_wisolt_kettle-*
- config_name: spherebg_single-convex
  data_files:
  - split: sphere_smcvx_ball
    path: data/sphere_smcvx_ball-*
  - split: sphere_smcvx_ball_coloured
    path: data/sphere_smcvx_ball_coloured-*
  - split: sphere_smcvx_cube
    path: data/sphere_smcvx_cube-*
  - split: sphere_smcvx_cube_coloured
    path: data/sphere_smcvx_cube_coloured-*
  - split: sphere_smcvx_cylinder
    path: data/sphere_smcvx_cylinder-*
  - split: sphere_smcvx_cylinder_coloured
    path: data/sphere_smcvx_cylinder_coloured-*
  - split: sphere_smcvx_diamond
    path: data/sphere_smcvx_diamond-*
  - split: sphere_smcvx_pyramid
    path: data/sphere_smcvx_pyramid-*
  - split: sphere_smcvx_pyramid_coloured
    path: data/sphere_smcvx_pyramid_coloured-*
- config_name: spherebg_single-non-convex
  data_files:
  - split: sphere_smncvx_candle_holder
    path: data/sphere_smncvx_candle_holder-*
  - split: sphere_smncvx_cat
    path: data/sphere_smncvx_cat-*
  - split: sphere_smncvx_cola
    path: data/sphere_smncvx_cola-*
  - split: sphere_smncvx_cow
    path: data/sphere_smncvx_cow-*
  - split: sphere_smncvx_crystal_vase
    path: data/sphere_smncvx_crystal_vase-*
  - split: sphere_smncvx_demijohn_vase
    path: data/sphere_smncvx_demijohn_vase-*
  - split: sphere_smncvx_dog
    path: data/sphere_smncvx_dog-*
  - split: sphere_smncvx_fox
    path: data/sphere_smncvx_fox-*
  - split: sphere_smncvx_generic_sculpture
    path: data/sphere_smncvx_generic_sculpture-*
  - split: sphere_smncvx_Korken_jar
    path: data/sphere_smncvx_Korken_jar-*
  - split: sphere_smncvx_light_bulb
    path: data/sphere_smncvx_light_bulb-*
  - split: sphere_smncvx_magnifier
    path: data/sphere_smncvx_magnifier-*
  - split: sphere_smncvx_man_sculpture
    path: data/sphere_smncvx_man_sculpture-*
  - split: sphere_smncvx_monkey
    path: data/sphere_smncvx_monkey-*
  - split: sphere_smncvx_sleeping_dragon
    path: data/sphere_smncvx_sleeping_dragon-*
  - split: sphere_smncvx_teapot
    path: data/sphere_smncvx_teapot-*
  - split: sphere_smncvx_torus
    path: data/sphere_smncvx_torus-*
  - split: sphere_smncvx_torus_coloured
    path: data/sphere_smncvx_torus_coloured-*
  - split: sphere_smncvx_Vardagen_jar
    path: data/sphere_smncvx_Vardagen_jar-*
  - split: sphere_smncvx_woman_sculpture
    path: data/sphere_smncvx_woman_sculpture-*
task_categories:
- image-to-3d
language:
- en
size_categories:
- 10K<n<100K
license: apache-2.0
tags:
- transparent
- refraction
- reflection
- refractive
- reflective
- NeRF
- NVS
- Reconstruction
- 3D
---

<h1 align="center" style="font-size: 36px; margin-bottom: 10px;">RefRef: A Synthetic Dataset and Benchmark for Reconstructing Refractive and Reflective Objects</h1>

<div align="center" style="margin-bottom: 20px;">
  <a href="">Yue Yin</a> · 
  <a href="">Enze Tao</a> · 
  <a href="https://weijiandeng.xyz/">Weijian Deng</a> · 
  <a href="https://sites.google.com/view/djcampbell">Dylan Campbell</a>
</div>


<p align="center">
  <a href="https://arxiv.org/abs/2505.05848">
    <img src="https://img.shields.io/badge/Paper-arXiv-red?logo=arxiv&logoColor=white" style="height: 27px; margin: 5px;">
  </a>
  <a href="https://github.com/YueYin27/refref">
  <img src="https://img.shields.io/badge/Code-GitHub-blue?logo=github&logoColor=white" style="height: 27px; margin: 5px;">
  </a>
  <a href="https://yueyin27.github.io/refref-page/">
  <img src="https://img.shields.io/badge/Project-Website-green?logo=google-chrome&logoColor=white" style="height: 27px; margin: 5px;">
  </a>
</p>



<div style="max-width: 800px; margin: 0 auto; padding: 0 20px; text-align: justify;">
  <h2 style="text-align: center; margin-bottom: 25px;">Abstract</h2>
   <p style="font-size: 20px; text-align: justify; line-height: 1.6;">
  Modern 3D reconstruction and novel view synthesis approaches have demonstrated strong performance on scenes with opaque Lambertian objects. However, most assume straight light paths and therefore cannot properly handle refractive and reflective materials. Moreover, datasets specialized for these effects are limited, stymieing efforts to evaluate performance and develop suitable techniques. In this work, we introduce a synthetic RefRef dataset and benchmark for reconstructing scenes with refractive and reflective objects from posed images.
  Our dataset has 50 such objects of varying complexity, from single-material convex shapes to multi-material non-convex shapes, each placed in three different background types, resulting in 150 scenes.
  We also propose an oracle method that, given the object geometry and refractive indices, calculates accurate light paths for neural rendering, and an approach based on this that avoids these assumptions.
  We benchmark these against several state-of-the-art methods and show that all methods lag significantly behind the oracle, highlighting the challenges of the task and dataset.
   </p>
</div>



## Dataset Overview

RefRef is a synthetic dataset and benchmark designed for the task of reconstructing scenes with complex refractive and reflective objects.
Our dataset consists of 50 objects categorized based on their geometric and material complexity: single-material convex objects, single-material non-convex objects, and multi-material non-convex objects, where the materials have different colors, opacities, and refractive indices.
Each object is placed in three distinct bounded environments and one unbounded environment, resulting in 150 unique scenes with diverse geometries, material properties, and backgrounds.
Our dataset provides a controlled setting for evaluating and developing 3D reconstruction and novel view synthesis methods that handle complex optical effects.

## Directory Structure

```
RefRef/
├── data                          # parquet files
├── README.md
├── scene_list.txt                # A list of all 150 scenes
└── object_materials.json         # Optical material properties (IOR values) and categories for all objects
```

## Object and Scenes

The dataset includes 50 objects categorised into three groups based on their complexity, material composition, and shape:
- `single-convex`(27 scenes): Objects with convex geometries, each composed of a single refractive material, such as transparent cubes, balls, and pyramids.
- `single-non-convex`(60 scenes): Objects with non-convex geometries, each composed of a single refractive material, such as animal sculptures, glass jars, light bulbs, candle holders, and magnifiers.
- `multiple-non-convex`(63 scenes): Objects with non-convex geometries, each composed of multiple refractive materials or a combination of refractive and opaque materials, such as reed diffusers, a glass of wine, and flasks filled with chemical liquid.

Each object is placed in three distinct scenes:
- `textured_cube_scene`: Objects placed within a bounded textured cube environment.
- `textured_sphere_scene`: Objects placed within a bounded textured sphere environment.
- `environment_map_scene`: Objects placed in an unbounded environment map background.

## Citation  
```
@misc{yin2025refrefsyntheticdatasetbenchmark,
      title={RefRef: A Synthetic Dataset and Benchmark for Reconstructing Refractive and Reflective Objects}, 
      author={Yue Yin and Enze Tao and Weijian Deng and Dylan Campbell},
      year={2025},
      eprint={2505.05848},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
      url={https://arxiv.org/abs/2505.05848}, 
}
```