@inproceedings{guo2023handal,
  title = {{HANDAL}: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions},
  author = {Andrew Guo and Bowen Wen and Jianhe Yuan and Jonathan Tremblay and Stephen Tyree and Jeffrey Smith and Stan Birchfield},
  year = {2023},
  month = {October},
  booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
  eprint = {2308.01477},
  archiveprefix = {arxiv},
}