论文标题
Benchbot：评估照片逼真的3D模拟中的机器人研究和真实机器人
BenchBot: Evaluating Robotics Research in Photorealistic 3D Simulation and on Real Robots
论文作者
论文摘要
我们介绍了Benchbot，这是一款新型软件套件，用于基准在影片3D模拟和真实机器人平台上的机器人技术研究的性能。解决机器人研究问题时，Benchbot为机器人的感觉运动功能提供了一个简单的接口；无论目标平台是模拟还是真实的机器人，都一致的接口。在本文中，我们概述了Benchbot系统体系结构，并探索其以用户为中心的设计与理想的研究开发过程之间的相似之处，而没有切线机器人工程挑战。该论文描述了使用板凳系统的研究好处，包括：增强的能力，专注于研究问题，直接定量反馈以为研究开发提供信息，得出全面绩效特征的工具以及提高研究结果可共享性和可共享性的提交格式。 Benchbot公开可用（http://benchbot.org），我们鼓励其在研究界使用它，以全面评估新型机器人算法的模拟和真实世界的性能。
We introduce BenchBot, a novel software suite for benchmarking the performance of robotics research across both photorealistic 3D simulations and real robot platforms. BenchBot provides a simple interface to the sensorimotor capabilities of a robot when solving robotics research problems; an interface that is consistent regardless of whether the target platform is simulated or a real robot. In this paper we outline the BenchBot system architecture, and explore the parallels between its user-centric design and an ideal research development process devoid of tangential robot engineering challenges. The paper describes the research benefits of using the BenchBot system, including: enhanced capacity to focus solely on research problems, direct quantitative feedback to inform research development, tools for deriving comprehensive performance characteristics, and submission formats which promote sharability and repeatability of research outcomes. BenchBot is publicly available (http://benchbot.org), and we encourage its use in the research community for comprehensively evaluating the simulated and real world performance of novel robotic algorithms.
