Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols

Understand

In this paper we present the Yale-CMU-Berkeley (YCB) Object and Model set, intended to be used to facilitate benchmarking in robotic manipulation, prosthetic design and rehabilitation research.

• The objects in the set are designed to cover a wide range of 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.
• In addition to describing the objects and models in the set along with how they were chosen and derived, we provide a framework and a number of example task protocols, laying out how the set can be used to quantitatively evaluate a range of manipulation approaches including planning, learning, mechanical design, control, and many others.