Breaking the 3D Dataset Bottleneck: Fast Scalable Generation of Aligned 3D Assets from Scratch for Category 6D Pose Estimation and Robotic Grasping

Guillaume Duret1,2, Danylo Mazurak1, Florence Zara3, Jan Peters2 Liming Chen1
1Ecole Centrale de Lyon, 2Technical University of Darmstadt 3University Claude Bernard Lyon 1
arXiv Code 3D Generation(Comming soon) Code 6D Generation(Comming soon) 3D Data(Full dataset comming soon)
6D Data(Comming soon)

BibTeX

@inproceedings{duret:hal-05220360,
  TITLE = {{Breaking the 3D Dataset Bottleneck: Fast Scalable Generation of Aligned 3D Assets from Scratch  for Category 6D Pose Estimation and Robotic Grasping}},
  AUTHOR = {Duret, Guillaume and Mazurak, Danylo and Zara, Florence and Peters, Jan and Chen, Liming},
  URL = {https://hal.science/hal-05220360},
  BOOKTITLE = {{IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2026)}},
  ADDRESS = {Denver, United States},
  YEAR = {2026},
  MONTH = Jun,
  KEYWORDS = {3D generation ; Sim2Real ; Dataset and benchmarks ; Category 6D pose estimation ; Grasping},
  PDF = {https://hal.science/hal-05220360v3/file/CVPR_2025__Copy_from_Neurips_2025_-18.pdf},
  HAL_ID = {hal-05220360},
  HAL_VERSION = {v3},
}

@inproceedings{duret:hal-04995939,
  TITLE = {{Facilitate and scale up the creation of 3D meshes, 6D category-based datasets and grasping with generative models: genvegefruits3d}},
  AUTHOR = {Duret, Guillaume and Bourennane, Younes and Mazurak, Danylo and Samsonenko, Anna and Zara, Florence and Peters, Jan and Chen, Liming},
  URL = {https://hal.science/hal-04995939},
  BOOKTITLE = {{IEEE 2025 International Conference on Image Processing (ICIP 2025)}},
  ADDRESS = {Anchorage, AL, United States},
  YEAR = {2025},
  MONTH = Sep,
  KEYWORDS = {3D generation ; 3D understanding ; Category 6D pose estimation ; Dataset and benchmarks ; Grasping},
  PDF = {https://hal.science/hal-04995939v2/file/ICIP2025-12.pdf},
  HAL_ID = {hal-04995939},
  HAL_VERSION = {v2},
}