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Multisensory object-centric perception, reasoning, and interaction have beena key research topic in recent years. However, the progress in these directionsis limited by the small set of objects available -- synthetic objects are notrealistic enough and are mostly centered around geometry, while real objectdatasets such as YCB are often practically challenging and unstable to acquiredue to international shipping, inventory, and financial cost. We presentObjectFolder, a dataset of 100 virtualized objects that addresses bothchallenges with two key innovations. First, ObjectFolder encodes the visual,auditory, and tactile sensory data for all objects, enabling a number ofmultisensory object recognition tasks, beyond existing datasets that focuspurely on object geometry. Second, ObjectFolder employs a uniform,object-centric, and implicit representation for each object's visual textures,acoustic simulations, and tactile readings, making the dataset flexible to useand easy to share. We demonstrate the usefulness of our dataset as a testbedfor multisensory perception and control by evaluating it on a variety ofbenchmark tasks, including instance recognition, cross-sensory retrieval, 3Dreconstruction, and robotic grasping.

ObjectFolder: A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representations