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An open-ended, goal conditioned robotic manipulation benchmark tackling industry's problems.
Jack Collins*, Mark Robson*, Jun Yamada*, Karol Janik, Mohan Sridharan, Ingmar Posner
Overview
Overview
Available robotic manipulation benchmarks all suffer from limitations, primarily their lack of industry engagement and inability to extend to more challenging environments. We present a new benchmark that was designed with challenges faced by industry in mind along with open-ended goal conditioning that allows the benchmark to cover a broad spectrum of challenging situtations.
Goals of the benchmark
Goals of the benchmark
Informed by industry, packaged for researchers
Diverse goal configurations
Accessible - Cheap and easy to create
Detailed simulated environment
Relevant areas of research
Relevant areas of research
Complex physical interactions
Task Planning
Hierarchical learning and planning
Challenging object state estimation
Demo
Demo
assembly_easy3_t2.mp4Create Your Own Benchmarking Set
Create Your Own Benchmarking Set
CAD Files
CAD Files
The parts to the benchmark are printed on a simple 3D FDM printer, cut from 20x20mm extruded profile aluminium, printed from an office printer or easily purchased making the parts cheap and easily accesible worldwide.
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Baseline Code
Baseline Code
Baseline performance of traditional task planning and manipulation skills is presented, with code to be made available to be extended upon.
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Simulation Environment
Simulation Environment
A high fidelity simulation environment of the benchmark has been developed in Nvidia Isaac Sim to facilitate both development, accessibility and learning-based approaches.
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Project Contributors
Project Contributors
Jack Collins
Mark Robson
Jun Yamada
Karol Janik
Mohan Sridharan
Ingmar Posner
Contact Us
Contact Us
See the contact us page.
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