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Utilizing 6DoF(Degrees of Freedom) pose information of an object and itscomponents is critical for object state detection tasks. We present IKEA ObjectState Dataset, a new dataset that contains IKEA furniture 3D models, RGBD videoof the assembly process, the 6DoF pose of furniture parts and their boundingbox. The proposed dataset will be available athttps://github.com/mxllmx/IKEAObjectStateDataset.

IKEA Object State Dataset: A 6DoF object pose estimation dataset and benchmark for multi-state assembly objects