A Benchmark Set of Domestic Objects for Service Robot Manipulation

The following everyday, household objects are ranked based on interviews with 15 ALS patients from the Emory ALS Center. We asked the participants to provide relative importance of retrieval of each object by a robot. Although the objects list was validated by population of ALS patients and focused on object retrieval, we hope the object lists provide a common set of practical objects for evaluating wider manipulation and grasp strategies.

rank	image	orientation	name	procurement
		-	TV Remote	Amazon.com
		-	Medicine Pill	See #3 (Medicine Bottle)
		-	Medicine Bottle	Amazon.com
		-	Glasses	Amazon.com
		-	Cordless Phone	Amazon.com
		-	Toothbrush	Local Convenience Store
		-	Fork	Plastic Metal, Amazon.com
		-	Spoon	See #7 (fork)
		-	Disposable Bottle	Amazon.com
		-	Toothpaste	Local Convenient Store
		-	Cup / Mug	Plastic Ceramic, Amazon.com
		-	Dish Plate	Amazon.com
		-	Bowl	Amazon.com
		-	Soap	Local Convenient Store
		-	Cell Phone	Amazon.com
		-	Hand Towel	Amazon.com
		-	Book	Amazon.com
		-	Bill	N/A
		-	Mail	Amazon.com
		-	Straw	Amazon.com
		-	Keys	Amazon.com
		-	Table Knife	See #7 (fork)
		-	Shoe / Sandal	Amazon.com
		-	Pen / Pencil	Amazon.com
		-	Medicine Box	Amazon.com
		-	Plastic Container	Amazon.com
		-	Credit Card	Local Convenience Store
		-	Coin	Local Convenience Store
		-	Small Pillow	Amazon.com
		-	Pants	Amazon.com
		-	Shirt	Amazon.com
		-	Hairbrush	Amazon.com
		-	Non-Disposable Bottle	Amazon.com
		-	Walking Cane	Amazon.com
		-	Socks	Amazon.com
		-	Wallet	Amazon.com
		-	Magazine	Local Convenience Store
		-	Can	Local Convenience Store
		-	Scissors	Amazon.com
		-	Newspaper	Local Convenience Store
		-	Wrist Watch	Amazon.com
		-	Purse	Amazon.com
		-	Lighter	Amazon.com

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