{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,22]],"date-time":"2026-07-22T02:35:09Z","timestamp":1784687709215,"version":"3.55.0"},"reference-count":19,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2017,3,1]],"date-time":"2017-03-01T00:00:00Z","timestamp":1488326400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/100000001","name":"U.S. National Science Foundation","doi-asserted-by":"crossref","award":["IIS-0953856"],"award-info":[{"award-number":["IIS-0953856"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/100000001","name":"U.S. National Science Foundation","doi-asserted-by":"crossref","award":["IIS-1139078"],"award-info":[{"award-number":["IIS-1139078"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/100000001","name":"U.S. National Science Foundation","doi-asserted-by":"crossref","award":["IIS-1317976"],"award-info":[{"award-number":["IIS-1317976"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2017,3]]},"abstract":"<jats:p>In this paper, we present an image and model dataset of the real-life objects from the Yale-CMU-Berkeley Object Set, which is specifically designed for benchmarking in manipulation research. For each object, the dataset presents 600 high-resolution RGB images, 600 RGB-D images and five sets of textured three-dimensional geometric models. Segmentation masks and calibration information for each image are also provided. These data are acquired using the BigBIRD Object Scanning Rig and Google Scanners. Together with the dataset, Python scripts and a Robot Operating System node are provided to download the data, generate point clouds and create Unified Robot Description Files. The dataset is also supported by our website, www.ycbbenchmarks.org , which serves as a portal for publishing and discussing test results along with proposing task protocols and benchmarks.<\/jats:p>","DOI":"10.1177\/0278364917700714","type":"journal-article","created":{"date-parts":[[2017,4,1]],"date-time":"2017-04-01T06:16:39Z","timestamp":1491027399000},"page":"261-268","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":327,"title":["Yale-CMU-Berkeley dataset for robotic manipulation research"],"prefix":"10.1177","volume":"36","author":[{"given":"Berk","family":"Calli","sequence":"first","affiliation":[{"name":"Mechanical Engineering and Material Science Department, Yale University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Arjun","family":"Singh","sequence":"additional","affiliation":[{"name":"Electrical Engineering and Computer Sciences Department, University of California, Berkeley, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"James","family":"Bruce","sequence":"additional","affiliation":[{"name":"Google, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Aaron","family":"Walsman","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kurt","family":"Konolige","sequence":"additional","affiliation":[{"name":"Google, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Siddhartha","family":"Srinivasa","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pieter","family":"Abbeel","sequence":"additional","affiliation":[{"name":"Electrical Engineering and Computer Sciences Department, University of California, Berkeley, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Aaron M","family":"Dollar","sequence":"additional","affiliation":[{"name":"Mechanical Engineering and Material Science Department, Yale University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2017,4,1]]},"reference":[{"key":"bibr1-0278364917700714","unstructured":"Amazon (2016a) Amazon Simple Storage Service (Amazon S3). Available at: https:\/\/aws.amazon.com\/s3\/ (accessed 16 March 2017)."},{"key":"bibr2-0278364917700714","unstructured":"Amazon (2016b) Amazon Web Services Public Dataset Program. Available at: https:\/\/aws.amazon.com\/public-data-sets\/ (acces-sed 16 March 2017)."},{"key":"bibr3-0278364917700714","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2000.895274"},{"key":"bibr4-0278364917700714","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2013.IX.035"},{"key":"bibr5-0278364917700714","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.2015.7251504"},{"key":"bibr6-0278364917700714","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2015.2448951"},{"key":"bibr7-0278364917700714","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.2181749"},{"key":"bibr8-0278364917700714","doi-asserted-by":"publisher","DOI":"10.1145\/237170.237269"},{"key":"bibr9-0278364917700714","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152709"},{"key":"bibr10-0278364917700714","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912445831"},{"key":"bibr11-0278364917700714","first-page":"61","volume-title":"Proceedings of fourth eurographics symposium on geometry processing","author":"Kazhdan M","year":"2006"},{"key":"bibr12-0278364917700714","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2004.1389727"},{"key":"bibr13-0278364917700714","volume-title":"ICRA workshop on open source software","author":"Quigley M","year":"2009"},{"key":"bibr14-0278364917700714","unstructured":"Sameer A, Mierle K (2012) Ceres solver: tutorial & reference. Google Inc."},{"key":"bibr15-0278364917700714","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2003.1211354"},{"key":"bibr16-0278364917700714","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906903"},{"key":"bibr17-0278364917700714","unstructured":"The HDF Group (2016) Hierarchical Data Format, version 5. Available at: http:\/\/www.hdfgroup.org\/HDF5\/ (accessed 16 March 2017)."},{"key":"bibr18-0278364917700714","unstructured":"YCB-Benchmarks (2016a) YCB Benchmarks Amazon Page. Available at: http:\/\/ycb-benchmarks.s3-website-us-east-1.amazonaws.com\/ (accessed 16 March 2017)."},{"key":"bibr19-0278364917700714","unstructured":"YCB-Benchmarks (2016b) YCB Benchmarks Main Page. Available at: http:\/\/ycbbenchmarks.org\/ (accessed 16 March 2017)."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364917700714","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364917700714","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364917700714","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:31Z","timestamp":1777457731000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364917700714"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,3]]},"references-count":19,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2017,3]]}},"alternative-id":["10.1177\/0278364917700714"],"URL":"https:\/\/doi.org\/10.1177\/0278364917700714","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,3]]}}}