We present a benchmark to facilitate simulated manipulation; an attempt to overcome the obstacles of physical benchmarks through the distribution of a real world, ground truth dataset. Users are given various simulated manipulation tasks with assigned protocols having the objective of replicating the real world results of a recorded dataset. The benchmark comprises of a range of metrics used to characterise the successes of submitted environments whilst providing insight into their deficiencies. We apply our benchmark to two simulation environments, PyBullet and V-Rep, and publish the results. All materials required to benchmark an environment, including protocols and the dataset, can be found at the benchmarks' website https://research.csiro.au/robotics/manipulation-benchmark/.
@article{arxiv.1911.01557,
title = {Benchmarking Simulated Robotic Manipulation through a Real World Dataset},
author = {Jack Collins and Jessie McVicar and David Wedlock and Ross Brown and David Howard and Jürgen Leitner},
journal= {arXiv preprint arXiv:1911.01557},
year = {2019}
}
Comments
Accepted to the IEEE Robotics and Automation Letters (RA-L) Special Issue: Benchmarking Protocols for Robotic Manipulation (2019)