The ObjectFolder Benchmark: Multisensory Learning with Neural and Real
  Objects
Ruohan Gao Yiming Dou Hao Li Tanmay Agarwal Jeannette Bohg Yunzhu Li Li Fei-Fei Jiajun Wu
We introduce the ObjectFolder Benchmark, a benchmark suite of 10 tasks for
multisensory object-centric learning, centered around object recognition,
reconstruction, and manipulation with sight, sound, and touch. We also
introduce the ObjectFolder Real dataset, including the multisensory
measurements for 100 real-world household objects, building upon a newly
designed pipeline for collecting the 3D meshes, videos, impact sounds, and
tactile readings of real-world objects. We conduct systematic benchmarking on
both the 1,000 multisensory neural objects from ObjectFolder, and the real
multisensory data from ObjectFolder Real. Our results demonstrate the
importance of multisensory perception and reveal the respective roles of
vision, audio, and touch for different object-centric learning tasks. By
publicly releasing our dataset and benchmark suite, we hope to catalyze and
enable new research in multisensory object-centric learning in computer vision,
robotics, and beyond. Project page: https://objectfolder.stanford.edu