The dataset itself is available to download as a zip file via https://tams-www.informatik.uni-hamburg.de/download/MultimodalClothes.zip. The compressed file has a size of 117GB.
We provide multimodal recordings of pieces of clothing grasped and rotated by a robot arm.
In the code directory, all of the code used for training, testing and data selection and preprocessing can be found. The code used in this work is a heavily modified version of the following repository: https://github.com/yanx27/Pointnet_Pointnet2_pytorch . We thank the contributors for publishing their work.
We evaluate common architectures (the code of which is included in this repository) on our dataset with the following results:
