ycb-benchmarks.yaml

Name: Yale-CMU-Berkeley (YCB) Object and Model Set
Description: "This project primarily aims to facilitate performance benchmarking in robotics research. The dataset provides mesh models, RGB, RGB-D and point cloud images of over 80 objects. The physical objects are also available via the [YCB benchmarking project](http://www.ycbbenchmarks.com/). The data are collected by two state of the art systems: UC Berkley's scanning rig and the Google scanner. The UC Berkley's scanning rig data provide meshes generated with Poisson reconstruction, meshes generated with volumetric range image integration, textured versions of both meshes, Kinbody files for using the meshes with OpenRAVE, 600 High-resolution RGB images, 600 RGB-D images, and 600 point cloud images for each object. The Google scanner data provides 3 meshes with different resolutions (16k, 64k, and 512k polygons), textured versions of each mesh, Kinbody files for using the meshes with OpenRAVE."
Documentation: http://www.ycbbenchmarks.com/
Contact: bcalli@wpi.edu
UpdateFrequency: Yearly
ManagedBy: Yale University and Berkeley
Tags:
  - aws-pds
  - robotics
License: Creative Commons Attribution 4.0 International (CC BY 4.0)
Resources:
  - Description: Project data files
    ARN: arn:aws:s3:::ycb-benchmarks
    Region: us-east-1
    Type: S3 Bucket
    Explore:
    - '[Browse Bucket](https://ycb-benchmarks.s3.amazonaws.com/index.html)'
DataAtWork:
  Tutorials:
  Tools & Applications:
  Publications:
    - Title: Pre-touch sensing for sequential manipulation
      URL: https://ieeexplore.ieee.org/abstract/document/7989594
      AuthorName: Boling Yang, Patrick Lancaster, Joshua R. Smith
      AuthorURL: https://sensor.cs.washington.edu/jrs.html
    - Title: "The Closure Signature: A Functional Approach to Model Underactuated Compliant Robotic Hands"
      URL: https://ieeexplore.ieee.org/abstract/document/8304743
      AuthorName: Maria Pozzi, Gionata Salvietti, João Bimbo, Monica Malvezzi, Domenico Prattichizzo
      AuthorURL: http://www.dii.unisi.it/~domenico/
    - Title: "Label Fusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes"
      URL: https://ieeexplore.ieee.org/abstract/document/8460950
      AuthorName: Pat Marion, Peter R. Florence, Lucas Manuelli, Russ Tedrake
      AuthorURL: https://groups.csail.mit.edu/locomotion/russt.html
    - Title: "Benchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set"
      URL: https://ieeexplore.ieee.org/document/7254318
      AuthorName: Berk Calli, Aaron Walsman, Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel, Aaron M Dollar
      AuthorURL: https://www.wpi.edu/people/faculty/bcalli