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Yale-CMU-Berkeley (YCB) Object and Model Set



This project primarily aims to facilitate performance benchmarking in robotics research. The dataset provides mesh models, RGB, RGB-D and point cloud images of over 80 objects. The physical objects are also available via the YCB benchmarking project. The data are collected by two state of the art systems: UC Berkley's scanning rig and the Google scanner. The UC Berkley's scanning rig data provide meshes generated with Poisson reconstruction, meshes generated with volumetric range image integration, textured versions of both meshes, Kinbody files for using the meshes with OpenRAVE, 600 High-resolution RGB images, 600 RGB-D images, and 600 point cloud images for each object. The Google scanner data provides 3 meshes with different resolutions (16k, 64k, and 512k polygons), textured versions of each mesh, Kinbody files for using the meshes with OpenRAVE.

Update Frequency



Creative Commons Attribution 4.0 International (CC BY 4.0)


Managed By

Yale University and Berkeley

See all datasets managed by Yale University and Berkeley.


How to Cite

Yale-CMU-Berkeley (YCB) Object and Model Set was accessed on DATE from

Usage Examples


Resources on AWS

  • Description
    Project data files
    Resource type
    S3 Bucket
    Amazon Resource Name (ARN)
    AWS Region
    AWS CLI Access (No AWS account required)
    aws s3 ls --no-sign-request s3://ycb-benchmarks/
    Browse Bucket

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