HEARTH: An Object-Centric RGB-Thermal-3D Dataset for Temperature-Aware Robot Manipulation

arXiv:2609.23418 · cs.RO · Submitted 2026-09-20 · Read on arXiv

cs.RO

Submitted: 2026-09-20

Updated: 2026-09-20

Code: https://github.com/Genesis-Embodied-AI/Genesis

Terminology

• Calibration — 25× in this paper · explained in 7 episodes
• Benchmark — 4× in this paper · explained in 2 episodes
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Gaussian Splatting — 2× in this paper · explained in 4 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Provenance — 1× in this paper · explained in 4 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes

Sources

• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• ThermalGaussian: Thermal 3D Gaussian Splatting
• MV-SAM3D: Adaptive Multi-View Fusion for Layout-Aware 3D Generation
• LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning

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