3DGS datasetExpert
3DROID: A Renderable 3D Gaussian Dataset with Measured Per-Scene Reliability
This preprint introduces 3DROID, a DROID-derived dataset that turns 114 robot manipulation episodes into renderable 3D Gaussian scenes anchored to the robot's metric workspace, with per-scene calibration and reconstruction-reliability metadata. Combining refined camera extrinsics with pose conditioning improves held-out view PSNR from 12.57 to 15.81 dB for YoNoSplat and from 12.75 to 16.27 dB for ZipSplat. The work matters because view-consistent synthetic robot data are useful for manipulation only if they preserve real-world scale and robot-frame alignment.