The YCB object and Model set: Towards common benchmarks for manipulation research

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The Open Motion Planning Library

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The princeton shape benchmark

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Adult Norms for the Nine Hole Peg Test of Finger Dexterity

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OpenRAVE: A Planning Architecture for Autonomous Robotics

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SRI-Graph: A Novel Scene-Robot Interaction Graph for Robust Scene Understanding

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Learning to Place Unseen Objects Stably Using a Large-Scale Simulation

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DreamUp3D: Object-Centric Generative Models for Single-View 3D Scene Understanding and Real-to-Sim Transfer

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CEPB dataset: a photorealistic dataset to foster the research on bin picking in cluttered environments

Tripicchio, P., D’Avella, S., & Avizzano, C. A. (2024) · Frontiers in Robotics and AI · doi:10.3389/frobt.2024.1222465 · Cited by 4

SceneReplica: Benchmarking Real-World Robot Manipulation by Creating Replicable Scenes

Khargonkar, N., Allu, S. H., Lu, Y., Jishnu Jaykumar, P., Prabhakaran, B., & Yu, X. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610180 · Cited by 8

Dual source geometric constraints based high precision online pose estimation

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VT-SGN:Spiking Graph Neural Network for Neuromorphic Visual-Tactile Fusion

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C2Fi-NeRF: Coarse to fine inversion NeRF for 6D pose estimation

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Human-Robot Collaborative Tele-Grasping in Clutter With Five-Fingered Robotic Hands

Huang, Y., Fan, D., Yan, D., Qi, W., Deng, G., Shao, Z., Luo, Y., Li, D., Wang, Z., Liu, Q., et al. (2025) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2025.3527278 · Cited by 4

Canonical Shape Reconstruction With SE(3) Equivariance Learning for Weakly-Supervised Object Pose Estimation

Zhou, J., Chen, K., Wei, M., Zhang, X.-P. S., Dou, Q., & Qin, J. (2025) · IEEE Transactions on Circuits and Systems for Video Technology · doi:10.1109/tcsvt.2025.3542089 · Cited by 4

vMF-Contact: Uncertainty-Aware Evidential Learning for Probabilistic Contact-Grasp in Noisy Clutter

Shi, Y., Welte, E., Gilles, M., & Rayyes, R. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127888 · Cited by 4

SIMstack: A Generative Shape and Instance Model for Unordered Object Stacks

Landgraf, Z., Scona, R., Laidlow, T., James, S., Leutenegger, S., & Davison, A. J. (2021) · IEEE/CVF International Conference on Computer Vision (ICCV) · doi:10.1109/iccv48922.2021.01277 · Cited by 4

Active Perception for Ambiguous Objects Classification

Safronov, E., Piga, N. A., Colledanchise, M., & Natale, L. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636414 · Cited by 5

Geometric Characterization of the Planar Multi-Finger Equilibrium Grasps

Rimon, E. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3101526 · Cited by 3

Contact Tracing: A Low Cost Reconstruction Framework for Surface Contact Interpolation

Lakshmipathy, A., Bauer, D., & Pollard, N. S. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636313 · Cited by 4

Learning Grasp Configuration Through Object-Specific Hand Primitives for Posture Planning of Anthropomorphic Hands

Liu, B., Jiang, L., Fan, S., & Dai, J. (2021) · Frontiers in Neurorobotics · doi:10.3389/fnbot.2021.740262 · Cited by 4

TemporalFusion: Temporal Motion Reasoning with Multi-Frame Fusion for 6D Object Pose Estimation

Mu, F., Huang, R., Luo, A., Li, X. S., Qiu, J., & Cheng, H. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636583 · Cited by 4

DeepNet-Based 3D Visual Servoing Robotic Manipulation

Al-Shanoon, A. A. S., Wang, Y., & Lang, H. (2022) · Journal of Sensors · doi:10.1155/2022/3511265 · Cited by 4

Integrating High-Resolution Tactile Sensing into Grasp Stability Prediction

Chumbley, L., Gu, M., Newbury, R., Leitner, J., & Cosgun, A. (2022) · Canadian Conference on Computer and Robot Vision · doi:10.1109/crv55824.2022.00021 · Cited by 4

Hand Grasp Pose Prediction Based on Motion Prior Field

Shi, X., Guo, W., Xu, W., & Sheng, X. (2023) · Biomimetics · doi:10.3390/biomimetics8020250 · Cited by 4

Non-Parametric Self-Identification and Model Predictive Control of Dexterous In-Hand Manipulation

Chanrungmaneekul, P., Ren, K., Grace, J. T., Dollar, A. M., & Hang, K. (2023) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros55552.2023.10341520 · Cited by 4

Hybrid Object Tracking with Events and Frames

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Automated Object Keypoints Dataset Generation Using Blender

Sappakit, T., Limsila, T., Chammanard, K., Jobsri, N., Laomahamek, S., Worakulpisut, T. C., & Chaichaowarat, R. (2024) · International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology (ECTI-CON) · doi:10.1109/ecti-con60892.2024.10594926 · Cited by 4

SPOTS: Stable Placement of Objects with Reasoning in Semi-Autonomous Teleoperation Systems

Lee, J., Park, S., Park, J., Lee, K., & Choi, S. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10611613 · Cited by 4

Robotic Imitation of Human Actions

Spisak, J., Kerzel, M., & Wermter, S. (2024) · IEEE International Conference on Development and Learning (ICDL) · doi:10.1109/icdl61372.2024.10644215 · Cited by 6

Visual Completion Of 3D Object Shapes From A Single View For Robotic Tasks

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Development of Smart Mobile Manipulator Controlled by a Single Windows PC Equipped with Real-Time Control Software

Choi, S., & Park, S. (2021) · International Journal of Precision Engineering and Manufacturing · doi:10.1007/s12541-021-00571-5 · Cited by 4

A Benchmarking Platform for Learning-Based Grasp Synthesis Methodologies

van Vuuren, J. J., Tang, L., Al-Bahadly, I. H., & Arif, K. M. (2021) · Journal of Intelligent & Robotic Systems · doi:10.1007/s10846-021-01410-5 · Cited by 4

Object affordance as a guide for grasp-type recognition.Preprint

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Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic DomainsPreprint

Wen, B., Mitash, C., & Bekris, K. E. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2105.14391 · Cited by 4

A Method for Measuring Contact Points in Human–Object Interaction Utilizing Infrared Cameras

Hakala, J., & Häkkinen, J. P. (2022) · Frontiers in Robotics and AI · doi:10.3389/frobt.2021.800131 · Cited by 3

Embedded air channels transform soft lattices into sensorized grippers

Zhang, A., Chin, L., Tong, D. L., & Rus, D. L. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610187 · Cited by 5

Zero6DOT: Zero-Shot 6D Object Pose Tracking With Monocular RGB Video

Pang, B., Zhai, D., Zhen, J., Wang, L., Han, X., Zhang, G., & Liu, X. (2025) · IEEE Transactions on Circuits and Systems for Video Technology · doi:10.1109/tcsvt.2025.3577617 · Cited by 3

Imitation Learning for Adaptive Control of a Virtual Soft Exoglove

Lyu, S., Caggiano, V., Leonetti, M., Farina, D., & Gionfrida, L. (2025) · International Conference on Rehabilitation Robotics · doi:10.1109/icorr66766.2025.11063210 · Cited by 3

Advancing Slip Classification in Robotic Manipulation Through Tactile Data Representation and Model Selection

Elijah, N., Nazari, K., Esfandiari, M., & E., A. M. G. (2025) · IEEE Sensors Journal · doi:10.1109/jsen.2025.3591145 · Cited by 3

QuickGrasp: Lightweight Antipodal Grasp Planning with Point Clouds

Ravie, N. S., Keerthi Vasan, M., Thondiyath, A., & Sebastian, B. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128143 · Cited by 3

Attribute-Based Object Grounding and Robot Grasp Detection with Spatial Reasoning

Yu, H., Zhou, Z., Sun, M., Ghasemalizadeh, O., Sun, Y., Kuo, C.-H., Sen, A., & Choi, C. (2025) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids65713.2025.11203093 · Cited by 3

DynamicPose: Real-time and Robust 6D Object Pose Tracking for Fast-Moving Cameras and Objects

Liang, T., Zeng, Y., Xie, J., & Zhou, B. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11247403 · Cited by 3

Levels of shared autonomy in brain-robot interfaces: enabling multi-robot multi-human collaboration for activities of daily living

Douglas, H., Vincenzo, M. D., Dossa, R. F. J., Nunziante, L., Sujit, S., & Arulkumaran, K. (2026) · Frontiers in Human Neuroscience · doi:10.3389/fnhum.2025.1718713 · Cited by 9

Design‐for‐Benchmarking in Soft Robotics: Navigating Component‐System Dichotomy

Preti, M. L., Nazeer, M. S., Pinskier, J., Howard, D., & Laschi, C. (2026) · Advanced Intelligent Systems · doi:10.1002/aisy.202600002 · Cited by 3

MagicHOI: Leveraging 3D Priors for Accurate Hand-Object Reconstruction from Short Monocular Video Clips

Wang, S., He, H., Parelli, M., Christoph, G., Fan, Z., & Song, J. (2025) · IEEE/CVF International Conference on Computer Vision (ICCV) · doi:10.1109/iccv51701.2025.00563 · Cited by 3

Super Intendo: Semantic Robot Programming from Multiple Demonstrations for taskable robots

French, K., Kim, J. H., Du, Y., Mamantov, E., Zeng, Z., & Jenkins, O. C. (2023) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2023.104397 · Cited by 3

RGBD Fusion Grasp Network with Large-Scale Tableware Grasp Dataset

Yoon, J., Ahn, J., Ha, C., Chung, R., Park, D., Han, H., & Kang, S. (2023) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros55552.2023.10341357 · Cited by 3

Hierarchical Understanding in Robotic Manipulation: A Knowledge-Based Framework

Miao, R., Jia, Q., Sun, F., Chen, G., & Huang, H. (2024) · Actuators · doi:10.3390/act13010028 · Cited by 3

DON6D: a decoupled one-stage network for 6D pose estimation

Wang, Z., Tu, H., Qian, Y., & Zhao, Y. (2024) · Scientific Reports · doi:10.1038/s41598-024-59152-x · Cited by 3

IGN: Instance-Guided Net for 3-D Instance Segmentation in Cluttered Scenes via Monocular Depth Sensor

Wan, Z., Zhang, H., Hu, J., Deng, J., & Wang, Y. (2024) · IEEE Sensors Journal · doi:10.1109/jsen.2024.3416149 · Cited by 3

Learning a Pre-Grasp Manipulation Policy to Effectively Retrieve a Target in Dense Clutter

Kiatos, M., Koutras, L., Sarantopoulos, I., & Doulgeri, Z. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10801734 · Cited by 5

DFDFTr + RAC-DAC: Dense Fusion with Deep Fusion Transformer and Realistic Actor-Critic combined with Decoupled Actor-Critic for end-to-end continuous multi-task robotic arm control

Phuc, D. T., Nguyen, T. C., & Hieu, D. S. (2025) · Expert Systems with Applications · doi:10.1016/j.eswa.2025.126923 · Cited by 3

SamPose: Generalizable Model-Free 6D Object Pose Estimation via Single-View Prompt

Shi, W., Gai, S., Da, F., & Cai, Z. (2025) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2025.3550796 · Cited by 3

PCR-PoseNet: a 6D pose estimation method for texture-less and highly reflective industrial parts with point cloud shape recovery

Han, Z., Chen, L. F., Zha, Y., & Wu, S. (2025) · The Visual Computer · doi:10.1007/s00371-025-03896-8 · Cited by 3

EAGA-Net: a novel simulation-based grasping detection dataset and network with efficient adaptability of gripper attribute

Zhou, Y., Ouyang, Y., Liu, S., Xu, H., Li, X., Nan, J., Ji, X., & Yi, J. (2025) · Advanced Engineering Informatics · doi:10.1016/j.aei.2025.103600 · Cited by 4

CFPGrasp: Coarse-to-Fine Prediction Network for 6-DoF Robotic Grasping With Improved Grasp Representation

Liu, X., Wang, Y., Huang, J., Feng, M., Zhang, H., Luo, J., Wu, C., & Miao, Z. (2025) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2025.3623033 · Cited by 3

An efficient lightweight deep neural network for real-time object 6D pose estimation with RGB-D inputs

Liang, Y., Fan, C., Liang, G., Wu, X., & Feng, W. (2021) · International Joint Conference on Neural Networks (IJCNN) · doi:10.1109/ijcnn52387.2021.9534175 · Cited by 3

Embodied Reasoning for Discovering Object Properties via Manipulation

Behrens, J. K., Nazarczuk, M., Štěpánová, K., Hoffmann, M., Demiris, Y., & Mikolajczyk, K. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561212 · Cited by 3

Automatic Hanging Point Learning from Random Shape Generation and Physical Function Validation

Takeuchi, K., Yanokura, I., Kakiuchi, Y., Okada, K., & Inaba, M. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561484 · Cited by 3

Learn Fast, Segment Well: Fast Object Segmentation Learning on the iCub Robot

Ceola, F., Maiettini, E., Pasquale, G., Meanti, G., Rosasco, L., & Natale, L. (2022) · IEEE Transactions on Robotics · doi:10.1109/tro.2022.3164331 · Cited by 3

An Object Synthesis Method to Enhance Visuo-Haptic Consistency

Fukumoto, N., Isoyama, N., Uchiyama, H., Sakata, N., & Kiyokawa, K. (2022) · Proceedings - International Symposium on Mixed and Augmented Reality, ISMAR · doi:10.1109/ismar55827.2022.00058 · Cited by 3

Synthetic Data Generation for Visual Detection of Flattened PET Bottles

Feščenko, V., Ārents, J., & Kadiķis, R. (2022) · Machine Learning and Knowledge Extraction · doi:10.3390/make5010002 · Cited by 3

OLF: RGB-D adaptive late fusion for robust 6D pose estimation

Petitjean, T., Wu, Z., Demonceaux, C., & Laligant, O. (2023) · International Conference on Quality Control by Artificial Vision (QCAV) · doi:10.1117/12.2690943 · Cited by 3

A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training

Shi, J., Talak, R., Maggio, D., & Carlone, L. (2023) · Robotics: Science and Systems · doi:10.15607/rss.2023.xix.076 · Cited by 3

DORMADL - Dataset of Human-Operated Robot Arm Motion in Activities of Daily Living

Goldau, F. F., Shivashankar, Y., Baumeister, A., Drescher, L., Tolle, P., & Frese, U. (2023) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros55552.2023.10341459 · Cited by 3

Physics-Based Rigid Body Object Tracking and Friction Filtering From RGB-D Videos

Kandukuri, R. K., Strecke, M., & Stueckler, J. (2024) · International Conference on 3D Vision (3DV) · doi:10.1109/3dv62453.2024.00111 · Cited by 3

Enhancing Task Performance of Learned Simplified Models via Reinforcement Learning

Bui, H., & Posa, M. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10611461 · Cited by 3

EdgePose: An Edge Attention Network for 6D Pose Estimation

Feng, Q., Nong, J., & Liang, Y. (2024) · Mathematics · doi:10.3390/math12172607 · Cited by 4

RFF-PoseNet: A 6D Object Pose Estimation Network Based on Robust Feature Fusion in Complex Scenes

Lei, X., Lu, W., Yong, J., & Wei, J. (2024) · Electronics · doi:10.3390/electronics13173518 · Cited by 3

D-SCo: Dual-Stream Conditional Diffusion for Monocular Hand-Held Object Reconstruction

Fu, B., Wang, G., Zhang, C., Di, Y., Huang, Z., Leng, Z., Manhardt, F., Ji, X., & Tombari, F. (2024) · Lecture notes in computer science · doi:10.1007/978-3-031-73397-0_22 · Cited by 3

Interactive Learning of Physical Object Properties Through Robot Manipulation and Database of Object Measurements

Kružliak, A., Hartvich, J., Patni, S. P., Rustler, L., Behrens, J. K., Abu‐Dakka, F. J., Mikolajczyk, K., Kyrki, V., & Hoffmann, M. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10802249 · Cited by 3

V-PRISM: Probabilistic Mapping of Unknown Tabletop Scenes

Wright, H., Zhi, W., Johnson‐Roberson, M., & Hermans, T. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10802358 · Cited by 3

A Study on the Impact of Domain Randomization for Monocular Deep 6DoF Pose Estimation

Cunha, K., Brito, C., Valença, L., Simões, F., & Teichrieb, V. (2020) · SIBGRAPI Conference on Graphics, Patterns and Images (SIBGRAPI) · doi:10.1109/sibgrapi51738.2020.00052 · Cited by 3

DDGC: Generative Deep Dexterous Grasping in Clutter

Lundell, J., Verdoja, F., & Kyrki, V. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3096239 · Cited by 3

Models and Experiments in Robotics

Francesco Amigoni, A., & Schiaffonati, V. (2017) · Springer eBooks · doi:10.1007/978-3-319-30526-4_36 · Cited by 3

Unconventional Uses of Structural Compliance in Adaptive Hands

Chang, C.-M., Gerez, L. F., Elangovan, N., Zisimatos, A. G., & Liarokapis, M. V. (2019) · IEEE RO-MAN · doi:10.1109/ro-man46459.2019.8956340 · Cited by 4

homer@UniKoblenz: Winning Team of the RoboCup Virtual @Home Open Platform League 2021

Müller, D., Wettengel, N. Y., & Paulus, D. W. R. (2022) · Lecture notes in computer science · doi:10.1007/978-3-030-98682-7_23 · Cited by 3

Robust 6D Object Pose Estimation by Learning RGB-D FeaturesPreprint

Tian, M., Pan, L., Ang, M. H., & Lee, G. H. (2020) · arXiv (Cornell University) · doi:10.48550/arxiv.2003.00188 · Cited by 3

Fit-NGP: Fitting Object Models to Neural Graphics Primitives

Taher, M., Alzugaray, I., & Davison, A. J. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10611272 · Cited by 2

Object Positions Interpretation System for Service Robots Through Targeted Object Marking

Yamao, K., Kanaoka, D., Isomoto, K., & Tamukoh, H. (2025) · IEEE/SICE International Symposium on System Integration (SII) · doi:10.1109/sii59315.2025.10870994 · Cited by 2

1-DOF band-based gripper using iris mechanism

Lee, M., Choi, J., Lee, W., Won, J., & Seo, T. (2025) · Sensors and Actuators A Physical · doi:10.1016/j.sna.2025.116811 · Cited by 2

RASP: Robot Active Scene Perception With Joint Viewpoint Planning and Depth Completion in Cluttered Environments

Liu, Y., Jia, T., Zhang, H., Yang, G., Wang, H., & Chen, D. (2025) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2025.3604455 · Cited by 2

ViTacGen: Robotic Pushing With Vision-to-Touch Generation

Wu, Z., Lin, Y., Zhao, Y., Zhang, X., Chen, Z., Lepora, N. F., & Luo, S. (2025) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2025.3621941 · Cited by 2

Tactile-based force estimation for interaction control with robot fingers

Chelly, E., Cherubini, A., Fraisse, P., Amar, F. B., & Khoramshahi, M. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11246923 · Cited by 6

Robust Visual Localization in Compute-Constrained Environments by Salient Edge Rendering and Weighted Hamming Similarity

Pham, T.-H., Bailey, P., Posada, D., Georgakis, G., Enriquez, J., Suresh, S., Dolci, M., & Twu, P. (2025) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2025.3614045 · Cited by 2

A Cable-Driven Soft Robotic Hand With an In-Hand RGB-D Camera for Dexterous Grasping and Manipulation

Zhou, Z., Zuo, R., Du, M., Wang, S., Levy, S., Sun, Y., & Liu, X. (2025) · IEEE Transactions on Robotics · doi:10.1109/tro.2025.3641751 · Cited by 4

CIBVS: Continuous Image-Based Visual Servoing Against Visual Signal Loss

He, R. C., Xuan, Y., Cui, H., Li, P., & Chen, H. (2026) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2026.3657797 · Cited by 2

Deep Learning-Driven Segmentation of Unseen Objects in Indoor Robotic Environments

Zhang, Y., Yin, M., Zhang, Q., Zhang, C.-H., Yang, S. X., Li, Z., & Hua, C. (2026) · IEEE Transactions on Multimedia · doi:10.1109/tmm.2026.3673587 · Cited by 2

Object Recognition and 3D Pose Estimation Using Improved VGG16 Deep Neural Network in Cluttered Scenes

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Your mileage may vary

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Automatic Learning System for Object Function Points from Random Shape Generation and Physical Validation

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OCSKB: An Object Component Sketch Knowledge Base for Fast 6D Pose Estimation

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Two-Fingered Hand with Gear-Type Synchronization Mechanism with Magnet for Improved Small and Offset Objects Grasping: F2 Hand

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Latent Space Planning for Multiobject Manipulation With Environment-Aware Relational Classifiers

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Neuro-Symbolic Reasoning for Multimodal Referring Expression Comprehension in HMI Systems

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Enhancing the Performance of Pneu-Net Actuators Using a Torsion Resistant Strain Limiting Layer

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NCRF: Neural Contact Radiance Fields for Free-Viewpoint Rendering of Hand-Object Interaction

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Deformability-Aware Stiffness-Guided Robotic Grasping Strategy based on Tactile Sensing

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3D Reconstruction of Objects in Hands Without Real World 3D Supervision

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Underactuated Dexterous Robotic Grasping With Reconfigurable Passive Joints

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Benchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set

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SceneReplica: Benchmarking Real-World Robot Manipulation by Creating Replicable Scenes

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DexYCB: A Benchmark for Capturing Hand Grasping of Objects

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