Benchmarking Cluttered Robot Pick-and-Place Manipulation With the Box and Blocks Test

In this work, we propose a pick-and-place benchmark to assess the manipulation capabilities of a robotic system. The benchmark is based on the Box and Blocks Test (BBT), a task utilized for decades by the rehabilitation community to assess unilateral gross manual dexterity in humans. We propose three robot benchmarking protocols in this work that hold true to the spirit of the original clinical te...