CoBRA: A Composable Benchmark for Robotics Applications
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2022
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| _version_ | 1866914721673773056 |
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| author | Mayer, Matthias Külz, Jonathan Althoff, Matthias |
| author_facet | Mayer, Matthias Külz, Jonathan Althoff, Matthias |
| contents | Selecting an optimal robot, its base pose, and trajectory for a given task is currently mainly done by human expertise or trial and error. To evaluate automatic approaches to this combined optimization problem, we introduce a benchmark suite encompassing a unified format for robots, environments, and task descriptions. Our benchmark suite is especially useful for modular robots, where the multitude of robots that can be assembled creates a host of additional parameters to optimize. We include tasks such as machine tending and welding in synthetic environments and 3D scans of real-world machine shops. All benchmarks are accessible through https://cobra.cps.cit.tum.de, a platform to conveniently share, reference, and compare tasks, robot models, and solutions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2203_09337 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | CoBRA: A Composable Benchmark for Robotics Applications Mayer, Matthias Külz, Jonathan Althoff, Matthias Robotics Selecting an optimal robot, its base pose, and trajectory for a given task is currently mainly done by human expertise or trial and error. To evaluate automatic approaches to this combined optimization problem, we introduce a benchmark suite encompassing a unified format for robots, environments, and task descriptions. Our benchmark suite is especially useful for modular robots, where the multitude of robots that can be assembled creates a host of additional parameters to optimize. We include tasks such as machine tending and welding in synthetic environments and 3D scans of real-world machine shops. All benchmarks are accessible through https://cobra.cps.cit.tum.de, a platform to conveniently share, reference, and compare tasks, robot models, and solutions. |
| title | CoBRA: A Composable Benchmark for Robotics Applications |
| topic | Robotics |
| url | https://arxiv.org/abs/2203.09337 |