EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulation

March 03, 2020 · Entered Twilight · 🏛 IEEE Robotics and Automation Letters

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Repo contents: .gitignore, LICENSE, README.md, egad, scripts, setup.py, singularity

Authors Douglas Morrison, Peter Corke, Jürgen Leitner arXiv ID 2003.01314 Category cs.RO: Robotics Citations 164 Venue IEEE Robotics and Automation Letters Repository https://github.com/dougsm/egad ⭐ 47 Last Checked 8 days ago

Abstract

We present the Evolved Grasping Analysis Dataset (EGAD), comprising over 2000 generated objects aimed at training and evaluating robotic visual grasp detection algorithms. The objects in EGAD are geometrically diverse, filling a space ranging from simple to complex shapes and from easy to difficult to grasp, compared to other datasets for robotic grasping, which may be limited in size or contain only a small number of object classes. Additionally, we specify a set of 49 diverse 3D-printable evaluation objects to encourage reproducible testing of robotic grasping systems across a range of complexity and difficulty. The dataset, code and videos can be found at https://dougsm.github.io/egad/