{"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/the-acrv-picking-benchmark-apb-a-robotic","title":"The ACRV Picking Benchmark (APB): A Robotic Shelf Picking Benchmark to Foster Reproducible Research","arxiv_id":"1609.05258","date":"2016-09-17","proceeding":null,"authors":["Jürgen Leitner","Adam W. Tow","Jake E. Dean","Niko Suenderhauf","Joseph W. Durham","Matthew Cooper","Markus Eich","Christopher Lehnert","Ruben Mangels","Christopher Mccool","Peter Kujala","Lachlan Nicholson","Trung Pham","James Sergeant","Liao Wu","Fangyi Zhang","Ben Upcroft","Peter Corke"],"abstract":"Robotic challenges like the Amazon Picking Challenge (APC) or the DARPA\nChallenges are an established and important way to drive scientific progress.\nThey make research comparable on a well-defined benchmark with equal test\nconditions for all participants. However, such challenge events occur only\noccasionally, are limited to a small number of contestants, and the test\nconditions are very difficult to replicate after the main event. We present a\nnew physical benchmark challenge for robotic picking: the ACRV Picking\nBenchmark (APB). Designed to be reproducible, it consists of a set of 42 common\nobjects, a widely available shelf, and exact guidelines for object arrangement\nusing stencils. A well-defined evaluation protocol enables the comparison of\n\\emph{complete} robotic systems -- including perception and manipulation --\ninstead of sub-systems only. Our paper also describes and reports results\nachieved by an open baseline system based on a Baxter robot.","url_abs":"http://arxiv.org/abs/1609.05258v2","url_pdf":"http://arxiv.org/pdf/1609.05258v2.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":"the-acrv-picking-benchmark-apb-a-robotic","repo_url":"https://github.com/amazon-picking-challenge/team_acrv","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}