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

In this article, we present the Yale-Carnegie Mellon University (CMU)-Berkeley (YCB) object and model set, intended to be used to facilitate benchmarking in robotic manipulation research. The objects in the set are designed to cover a wide range of aspects of the manipulation problem. The set includes objects of daily life with different shapes, sizes, textures, weights, and rigidities as well as some widely used manipulation tests. The associated database provides high-resolution red, green, blue, plus depth (RGB-D) 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…

• NS
  National Science Foundation
• YU
  Yale University
• CM
  Carnegie Mellon University
• TR
  Toronto Rehabilitation Institute