[2205.14099] BURG-Toolkit: Robot Grasping Experiments in Simulation and the Real World
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Computer Science > Robotics

arXiv:2205.14099 (cs)
[Submitted on 27 May 2022]

Title:BURG-Toolkit: Robot Grasping Experiments in Simulation and the Real World

Authors:Martin Rudorfer, Markus Suchi, Mohan Sridharan, Markus Vincze, Aleš Leonardis
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Abstract:This paper presents BURG-Toolkit, a set of open-source tools for Benchmarking and Understanding Robotic Grasping. Our tools allow researchers to: (1) create virtual scenes for generating training data and performing grasping in simulation; (2) recreate the scene by arranging the corresponding objects accurately in the physical world for real robot experiments, supporting an analysis of the sim-to-real gap; and (3) share the scenes with other researchers to foster comparability and reproducibility of experimental results. We explain how to use our tools by describing some potential use cases. We further provide proof-of-concept experimental results quantifying the sim-to-real gap for robot grasping in some example scenes. The tools are available at: this https URL
Comments: presented at ICRA 2022 Workshop on Releasing Robots into the Wild: Simulations, Benchmarks, and Deployment. Project page: this https URL
Subjects: Robotics (cs.RO)
Cite as: arXiv:2205.14099 [cs.RO]
  (or arXiv:2205.14099v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2205.14099

Submission history

From: Martin Rudorfer [view email]
[v1] Fri, 27 May 2022 16:58:20 UTC (9,544 KB)
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