YCB Benchmarking Project : Object Set, Data Set and Their Applications (特集 ロボットマニピュレーション革命)

Yale-CMU-Berkeley (YCB) benchmarking project (www. ycbbenchmarks. org) aims to standardize robotic manipulation experiments by disseminating a set of physical objects, their models, a code base and a platform for sharing the benchmarking results. The set 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 this paper, we summarize this effort and its recent use in robotic manipulation literature∗.