We will be organizing the workshop “DEVELOPMENT OF BENCHMARKING PROTOCOLS FOR ROBOTIC MANIPULATION” at IROS 2017. Check out the workshop website (more details coming soon):


Welcome to the website of Yale-CMU-Berkeley (YCB) Object and Model set!

YCB Object and Model Set is designed for facilitating benchmarking in robotic manipulation. The set consists of objects of daily life with different shapes, sizes, textures, weight and rigidity, as well as some widely used manipulation tests. The physical objects are supplied to any research group who sign-up through this website. It is our hope that the ready availability of the physical objects will enable the community of manipulation researchers to more easily compare approaches as well as continually evolve benchmarking tests as the field matures. The set is associated with a model database which provides mesh models and high-resolution RGB-D scans of the objects for easy incorporation into manipulation and planning software platforms.

Apply for the YCB OBJECT SET

This website also serves as a portal for the community to propose new protocols benchmarks for manipulation research. Guidelines and some example protocols/benchmarks are presented. All the reported results of the benchmarks will be displayed in the ‘Results and Records’ page. The website also provides a forum that the community can discuss the set and benchmarking efforts.

Project organizers:

Prof. Aaron Dollar   Yale University aaron.dollar@yale.edu
Prof. Sidd Srinivasa   University of Washington siddh@cs.uw.edu
Prof. Pieter Abbeel   University of California, Berkeley pabbeel@cs.berkeley.edu
Dr. Berk Calli

(primary contact)

  Yale University berk.calli@yale.edu
Arjun Singh   University of California, Berkeley arjun810@gmail.com
Aaron Walsman   Carnegie Mellon University aaronwalsman@gmail.com


Joanna Jin   Yale University  
Ellen Yang   Yale University  

For citing:

[1] Berk Calli, Aaron Walsman, Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M. Dollar, Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols, IEEE Robotics and Automation Magazine, pp. 36 – 52, Sept. 2015.

[2] Berk Calli, Arjun Singh, James Bruce, Aaron Walsman, Kurt Konolige, Siddhartha Srinivasa, Pieter Abbeel, Aaron M Dollar, Yale-CMU-Berkeley dataset for robotic manipulation research, The International Journal of Robotics Research, vol. 36, Issue 3, pp. 261 – 268, April 2017.

[3] Berk Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M. Dollar, The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research, proceedings of the 2015 IEEE International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 2015.