Data & Benchmarks

YCB Object Set

The YCB object set is a standardized collection of 77 everyday physical objects, from cans and boxes to tools and toys, assembled by Yale, CMU, and UC Berkeley in 2015 so that manipulation research groups can benchmark on identical items. Each object ships with high-quality scanned mesh models, and derived benchmarks such as YCB-Video anchor 6-DOF pose estimation evaluation, including the BOP challenge.

Why it matters for physical AI

Reproducibility in manipulation requires shared physical objects, not just shared code, and YCB remains the common vocabulary linking grasping papers, pose-estimation benchmarks, and simulation assets across a decade of research.