MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets

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dc.citation.firstpage882
dc.citation.issueNumber2
dc.citation.journalTitleIEEE Robotics and Automation Letters
dc.citation.lastpage889
dc.citation.volumeNumber7
dc.contributor.authorChamzas, Constantinos
dc.contributor.authorQuintero-Peña, Carlos
dc.contributor.authorKingston, Zachary
dc.contributor.authorOrthey, Andreas
dc.contributor.authorRakita, Daniel
dc.contributor.authorGleicher, Michael
dc.contributor.authorToussaint, Marc
dc.contributor.authorKavraki, Lydia E.
dc.date.accessioned2022-08-15T15:11:12Z
dc.date.available2022-08-15T15:11:12Z
dc.date.issued2022
dc.description.abstractRecently, there has been a wealth of development in motion planning for robotic manipulation—new motion planners are continuously proposed, each with their own unique strengths and weaknesses. However, evaluating new planners is challenging and researchers often create their own ad-hoc problems for benchmarking, which is time-consuming, prone to bias, and does not directly compare against other state-of-the-art planners. We present MotionBenchMaker , an open-source tool to generate benchmarking datasets for realistic robot manipulation problems. MotionBenchMaker is designed to be an extensible, easy-to-use tool that allows users to both generate datasets and benchmark them by comparing motion planning algorithms. Empirically, we show the benefit of using MotionBenchMaker as a tool to procedurally generate datasets which helps in the fair evaluation of planners. We also present a suite of 40 prefabricated datasets, with 5 different commonly used robots in 8 environments, to serve as a common ground to accelerate motion planning research.
dc.identifier.citationChamzas, Constantinos, Quintero-Peña, Carlos, Kingston, Zachary, et al.. "MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets." <i>IEEE Robotics and Automation Letters,</i> 7, no. 2 (2022) IEEE: 882-889. https://doi.org/10.1109/LRA.2021.3133603.
dc.identifier.doihttps://doi.org/10.1109/LRA.2021.3133603
dc.identifier.urihttps://hdl.handle.net/1911/113097
dc.language.isoeng
dc.publisherIEEE
dc.rightsThis is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.
dc.titleMotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets
dc.typeJournal article
dc.type.dcmiText
dc.type.publicationpost-print
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