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Berk Çalli, Arjun Singh, Aaron Walsman, Siddhartha S. Srinivasa, Pieter Abbeel, Aaron M. Dollar. The YCB object and Model set: Towards common benchmarks for manipulation research. In International Conference on Advanced Robotics, ICAR 2015, Istanbul, Turkey, July 27-31, 2015. pages 510-517, IEEE, 2015. [doi]

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