CoBRA: ロボティクス応用のための構成可能ベンチマーク
CoBRA: A Composable Benchmark for Robotics Applications
ロボット・ベース姿勢・軌道の同時最適化を評価するため、ロボット・環境・タスクを統一形式で扱うベンチマークを提案し、モジュール式ロボットや実環境スキャンを含むタスクを共有プラットフォームで提供する。
著者: Matthias Mayer, Jonathan Külz, Matthias Althoff
分類: cs.RO
原文アブストラクト
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.
