This site provides the data for the YCB Object and Model set. Related publications: B. Calli, A. Walsman, A. Singh, S. Srinivasa, P. Abbeel and A. M. Dollar, "Benchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set," in IEEE Robotics & Automation Magazine, vol. 22, no. 3, pp. 36-52, Sept. 2015. doi: 10.1109/MRA.2015.2448951 B. Calli, A. Singh, A. Walsman, S. Srinivasa, P. Abbeel and A. M. Dollar, "The YCB object and Model set: Towards common benchmarks for manipulation resear
For the data collected with the UC Berkley's scanning rig (which is made up of RGB and RGB-D cameras and was also used for BigBIRD ), we provide:
For the data collected with the Google scanner, we provide: