Welcome to the website of Yale-CMU-Berkeley (YCB) Object and Model set!
Special issue on Benchmarking Protocols in Robotic Manipulation in IEEE Robotics and Automation Letters (RA-L) is to be published on Feb. 11th, 2020. You can find the protocols and benchmarks of some of the papers here.
UMass Lowell has joined to the YCB Team! The general maintenance and delivery of the set is now organized by UMASS Lowell NERVE Center
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.
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) |
Worcester Polytechnic Institute | bcalli@wpi.edu | |
| Arjun Singh | University of California, Berkeley | arjun810@gmail.com | |
| Aaron Walsman | Carnegie Mellon University | aaronwalsman@gmail.com |
Assistants:
| Joanna Jin | Yale University | ||
| Ellen Yang | Yale University |
For citing:
[1] 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] 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.
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