Dataset – Manipulation Benchmark

Dataset – Manipulation Benchmark

The dataset for the benchmark currently consists of 10 tasks divided into two subgroups.

We look to expand the dataset to cover more tasks and to use additional robotic manipulators.

Subgroup Task Video  Links
1. Kinematics 1

Kinematic motion of the arm, Simple

Dataset: /Dataset/
Protocols: /YCBProtocol/Protocol/
Benchmarks:  /YCBProtocol/Benchmark/
Videos: YouTube or /Videos/
Simulation Videos: /Videos/Simulation/
2

Kinematic motion of the arm, Complex

2. Non-Prehensile Manipulation 3

Plastic cube pushing

4

Wooden cube pushing

5

Plastic cylinder rolling

6

Wooden cylinder rolling

7

Plastic cone rolling

8

Wooden cone rolling

9

Plastic cuboid pushing

10

Wooden cuboid pushing

More To Come

If you would like to contribute to the dataset please contact us through the submission page.

For more information contact Jack Collins at Jack.Collins@data61.csiro.au


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