mlsanityData to 14 Oct 2026

DOFS: A Real-world 3D Deformable Object Dataset with Full Spatial Information for Dynamics Model Learning

arXiv 2410.21758 ↗First posted 29 Oct 2024cs.CV cs.ROcited by 3

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Abstract (arXiv)

This work proposes DOFS, a pilot dataset of 3D deformable objects (DOs) (e.g., elasto-plastic objects) with full spatial information (i.e., top, side, and bottom information) using a novel and low-cost data collection platform with a transparent operating plane. The dataset consists of active manipulation action, multi-view RGB-D images, well-registered point clouds, 3D deformed mesh, and 3D occupancy with semantics, using a pinching strategy with a two-parallel-finger gripper. In addition, we trained a neural network with the down-sampled 3D occupancy and action as input to model the dynamics of an elasto-plastic object. Our dataset and all CADs of the data collection system will be released soon on our website.

Key facts. Cited by 3 papers in the map (data through 14 Oct 2026). Builds on 8 of its 13 references that are in the map. First posted on arXiv 29 Oct 2024.

Builds on

8 of 13 references.

References · 8

  1. 2020Learning Predictive Representations for Deformable Objects Using Contrastive Estimationcited by 72
  2. 2022RoboCraft: Learning to See, Simulate, and Shape Elasto-Plastic Objects with Graph Networkscited by 72
  3. 2022SpeedFolding: Learning Efficient Bimanual Folding of Garmentscited by 52
  4. 2024Sim-To-Real Transfer for Visual Reinforcement Learning of Deformable Object Manipulation for Robot-Assisted Surgerycited by 26
  5. 2022DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objectscited by 10
  6. 2023SculptBot: Pre-Trained Models for 3D Deformable Object Manipulationcited by 8
  7. 2022Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Researchcited by 6
  8. 2024PokeFlex: Towards a Real-World Dataset of Deformable Objects for Robotic Manipulationcited by 2

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 1; 2026: 2.

3 papers.

  1. 2025Manipulating Elasto-Plastic Objects With 3D Occupancy and Learning-Based Predictive Controlcited by 2
  2. 2026TrackDeform3D: Markerless and Autonomous 3D Keypoint Tracking and Dataset Collection for Deformable Objectscited by 0
  3. 2026Physical-Field-Bridged Material Parameter Inference from Multi-View Deformation Videoscited by 0