PRISM

PRISM Paper arXiv Project Website Purpose-driven Robotic Interaction in Scene Manipulation (PRISM) is a large-scale synthetic dataset for Task-Oriented Grasping featuring cluttered environments and diverse, realistic task descriptions. We use 2365 object instances from ShapeNet-Sem along with stable grasps from ACRONYM to compose 10,000 unique and diverse scenes. Within each scene we capture 10 views, within which there are multiple tasks to be performed. This results in 379k… See the full description on the dataset page:

Source: Hugging Face Hub (allenai/PRISM). Metadata imported from the dataset’s Hub tags.