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

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Language-guided manipulation can depend on physical properties that visible appearance does not reveal. Temperature is one such property, but object datasets for robot learning rarely associate measured temperatures with object appearance and geometry. We present HEARTH, an object-centric RGB-thermal-3D dataset of 90 physical objects from 18 everyday categories, comprising 145 captured object states. Our pipeline maps apparent surface temperatures onto reconstructed meshes through camera calibration and pose transfer. The dataset includes raw temperature measurements, camera parameters, RGB-te

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