MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets

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dc.citation.firstpage882en_US
dc.citation.issueNumber2en_US
dc.citation.journalTitleIEEE Robotics and Automation Lettersen_US
dc.citation.lastpage889en_US
dc.citation.volumeNumber7en_US
dc.contributor.authorChamzas, Constantinosen_US
dc.contributor.authorQuintero-Peña, Carlosen_US
dc.contributor.authorKingston, Zacharyen_US
dc.contributor.authorOrthey, Andreasen_US
dc.contributor.authorRakita, Danielen_US
dc.contributor.authorGleicher, Michaelen_US
dc.contributor.authorToussaint, Marcen_US
dc.contributor.authorKavraki, Lydia E.en_US
dc.date.accessioned2022-08-15T15:11:12Zen_US
dc.date.available2022-08-15T15:11:12Zen_US
dc.date.issued2022en_US
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.en_US
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.en_US
dc.identifier.doihttps://doi.org/10.1109/LRA.2021.3133603en_US
dc.identifier.urihttps://hdl.handle.net/1911/113097en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.rightsThis is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.en_US
dc.titleMotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasetsen_US
dc.typeJournal articleen_US
dc.type.dcmiTexten_US
dc.type.publicationpost-printen_US
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