S3O4D (Stanford 3D Objects for Disentangling)

The data consists of 100,000 renderings each of the Bunny and Dragon objects from the Stanford 3D Scanning Repository. More objects may be added in the future, but only the Bunny and Dragon are used in the paper. Each object is rendered with a uniformly sampled illumination from a point on the 2-sphere, and a uniformly sampled 3D rotation. The true latent states are provided as NumPy arrays along with the images. The lighting is given as a 3-vector with unit norm, while the rotation is provided both as a quaternion and a 3x3 orthogonal matrix.