# HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions

> Research article (2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023) · cited 29× · AI/ML

**Wikidata**: [openalex:W4389666682](https://www.wikidata.org/wiki/openalex:W4389666682)  
**Source**: https://4ort.xyz/entity/handal-a-dataset-of-real-world-manipulable-object-categories-with-pose-annotations-affordances-and-reconstructions