CoBRA: A Composable Benchmark for Robotics Applications

Selecting an optimal robot and configuring it for a given task is currently mostly done by human expertise or trial and error. To evaluate the automatic selection and adaptation of robots to specific tasks, we introduce a benchmark suite encompassing a common format for robots, environments, and task descriptions. Our benchmark suite is especially useful for modular robots, where the configuration of the robots themselves creates a host of additional parameters to optimize. The benchmark defines this optimization problem and facilitates the comparison of solution algorithms. All benchmarks are accessible through cobra.cps.cit.tum.de, a website to conveniently share, reference, and compare solutions.