{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/scenereplica-benchmarking-real-world-robot","title":"SCENEREPLICA: Benchmarking Real-World Robot Manipulation by Creating Replicable Scenes","arxiv_id":"2306.15620","date":"2023-06-27","proceeding":null,"authors":["Ninad Khargonkar","Sai Haneesh Allu","Yangxiao Lu","Jishnu Jaykumar P","Balakrishnan Prabhakaran","Yu Xiang"],"abstract":"We present a new reproducible benchmark for evaluating robot manipulation in the real world, specifically focusing on pick-and-place. Our benchmark uses the YCB objects, a commonly used dataset in the robotics community, to ensure that our results are comparable to other studies. Additionally, the benchmark is designed to be easily reproducible in the real world, making it accessible to researchers and practitioners. We also provide our experimental results and analyzes for model-based and model-free 6D robotic grasping on the benchmark, where representative algorithms are evaluated for object perception, grasping planning, and motion planning. We believe that our benchmark will be a valuable tool for advancing the field of robot manipulation. By providing a standardized evaluation framework, researchers can more easily compare different techniques and algorithms, leading to faster progress in developing robot manipulation methods.","url_abs":"https://arxiv.org/abs/2306.15620v3","url_pdf":"https://arxiv.org/pdf/2306.15620v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"scenereplica-benchmarking-real-world-robot","repo_url":"https://github.com/IRVLUTD/SceneReplica","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"benchmarking","task_name":"Benchmarking"},{"task_slug":"motion-planning","task_name":"Motion Planning"},{"task_slug":"robot-manipulation","task_name":"Robot Manipulation"},{"task_slug":"robotic-grasping","task_name":"Robotic Grasping"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}