YCB Box and Blocks Benchmark - Detailed Experimental Results

  # Grasped Objects Failed Grasps Picks Per Hour
Random 1 4 14 120
  2 1 15 30
  3 3 12 90
  4 3 15 90
  5 0 16 0
Single 1 12 0 360
  2 14 0 420
  3 12 1 360
  4 13 0 390
  5 13 1 390
Multiple 1 17 1 510
  2 19 0 570
  3 22 0 660
  4 23 0 690
  5 21 2 630
Single + Prediction 1 16 1 480
  2 15 2 450
  3 16 1 480
  4 18 0 540
  5 17 1 510
Multiple + Prediction 1 23 2 690
  2 25 1 750
  3 24 0 720
  4 23 1 690
  5 22 3 660