3D models of YCB Objects we used [here](https://drive.google.com/file/d/1PTNmhd-eSq0fwSPv0nvQN8h_scR1v-UJ/view?usp=sharing) (3G). Save under $ROOT/data or use a symbol link.
Our pre-trained checkpoints [here](https://drive.google.com/file/d/1-ECAkkTRfa1jJ9YBTzf04wxCGw6-m5d4/view?usp=sharing) (4G). Save under $ROOT/data or use a symbol link.
Our real-world images with pose annotations for 20 YCB objects collected via robot interation [here](https://drive.google.com/file/d/1cQH_dnDzyrI0MWNx8st4lht_q0F6cUrE/view?usp=sharing) (53G). Check our ICRA 2020 [paper](https://arxiv.org/abs/1909.10159) for details.
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