SCENEREPLICA: Benchmarking Real-World Robot Manipulation by Creating Replicable Scenes

arXiv:2306.15620v3 Announce Type: replace-cross
Abstract: We present a new reproducible benchmark for evaluating robot manipulation in the real world, specifically focusing on pick-and-place. Our benchmark uses the YCB objects, a commonly used dataset in the robotics community, to ensure that our results are comparable to other studies. Additionally, the benchmark is designed to be easily reproducible in the real world, making it accessible to researchers and practitioners. We also provide our experimental results and analyzes for model-based and model-free 6D …

abstract arxiv benchmark benchmarking community cs.cv cs.lg cs.ro dataset manipulation objects results robot robotics robot manipulation studies type world