The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research
Abstract
In this paper we present the Yale-CMU-Berkeley (YCB)Object and Model set, intended to be used for benchmarking in robotic grasping and manipulation research. The objects in the set are designed to cover various aspects of the manipulation problem; it includes objects of daily life with different shapes, sizes, textures, weight and rigidity, as well as some widely used manipulation tests. The associated database provides high-resolution RGBD scans, physical properties and geometric models of the objects for easy incorporation into manipulation and planning software platforms. A comprehensive literature survey on existing benchmarks and object datasets is also presented and their scope and limitations are discussed. The set will be freely distributed to research groups worldwide at a series of tutorials at robotics conferences, and will be otherwise available at a reasonable purchase cost.
BibTeX
@conference{Calli-2015-5995,author = {Berk Calli and Arjun Singh and Aaron Walsman and Siddhartha Srinivasa and Pieter Abbeel and Aaron Dollar},
title = {The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research},
booktitle = {Proceedings of IEEE International Conference on Advanced Robotics (ICAR '15)},
year = {2015},
month = {July},
editor = {IEEE},
pages = {510 - 517},
}