---
license: mit
---

This repo contains the dataset used in RFTrans, generated by the [Data Generator](https://github.com/LJY-XCX/Unity-RefractiveFlowRender), powered by [RFUniverse](https://github.com/mvig-robotflow/rfuniverse).

The `train` and `val` folder contain the proposed synthetic dataset.
You can also generate your own dataset with the tools and assets provided by us.
`Resources.zip` contains the assets we used to generate the dataset.
To note, we do not claim to own the copyright of these assets.

The `cleargrasp` folder contains the example train set generated with the models from ClearGrasp.
It's the train set we used to compare with baselines.
`train.zip` contains the required data used for train the networks.
`intermediate.zip` contains the intermediate results during the data generation process, including ir images and gray-coded images.