Towards Benchmarking of Domestic Robotic Assistants

Iossifidis, I.; Lawitzky, Gisbert; Knoop, Sarah; Zöllner, R.

doi:10.1007/978-3-540-31509-4_33

Cited by 6 publications

(7 citation statements)

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“…The necessity of manipulation benchmarks is highly recognized in the robotics community [6][7][8] and continues to be an active topic of discussion at workshops on robotic manipulation (e.g. [9]).…”

Section: Related Workmentioning

confidence: 99%

The YCB object and Model set: Towards common benchmarks for manipulation research

Çallı

Singh

Walsman

et al. 2015

2015 International Conference on Advanced Robotics (ICAR)

595

471

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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.

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Section: Related Workmentioning

confidence: 99%

The YCB object and Model set: Towards common benchmarks for manipulation research

Çallı

Singh

Walsman

et al. 2015

2015 International Conference on Advanced Robotics (ICAR)

595

471

View full text Add to dashboard Cite

show abstract

“…The necessity of manipulation benchmarks is highly recognized in the robotics community [12][13][14] and continues to be an active topic of discussion at workshops on robotic manipulation (e.g. [15]).…”

Section: A Robotic Manipulationmentioning

confidence: 99%

Benchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set

Çallı

Walsman

Singh

et al. 2015

IEEE Robot. Automat. Mag.

495

284

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Abstract-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 highresolution 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. 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. It is our hope that the ready availability of this set along with the ground laid in terms of protocol templates will enable the community of manipulation researchers to more easily compare approaches as well as continually evolve benchmarking tests as the field matures.

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“…PR2 [13], iCub [14], and Poppy [15]). Closer to this work are instead robot competitions [10], [16], [17], [18], that propose a standard set of challenges to homogenize evaluation of robot performance. A great variety of tasks has been used in human-robot collaborative studies, each featuring specific properties that address one or several aspects of the collaboration.…”

Section: Domainmentioning

confidence: 99%

The HRC Model Set for Human-Robot Collaboration Research

Zeylikman

Widder

Roncone

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this paper, we present a model set for designing human-robot collaboration (HRC) experiments. It targets a common scenario in HRC, which is the collaborative assembly of furniture, and it consists of a combination of standard components and custom designs. With this work, we aim at reducing the amount of work required to set up and reproduce HRC experiments, and we provide a unified framework to facilitate the comparison and integration of contributions to the field. The model set is designed to be modular, extendable, and easy to distribute. Importantly, it covers the majority of relevant research in HRC, and it allows tuning of a number of experimental variables that are particularly valuable to the field. Additionally, we provide a set of software libraries for perception, control and interaction, with the goal of encouraging other researchers to proactively contribute to our work.

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Towards Benchmarking of Domestic Robotic Assistants

Cited by 6 publications

References 0 publications

The YCB object and Model set: Towards common benchmarks for manipulation research

The YCB object and Model set: Towards common benchmarks for manipulation research

Benchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set

The HRC Model Set for Human-Robot Collaboration Research

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