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We introduce BenchBot, a novel software suite for benchmarking theperformance of robotics research across both photorealistic 3D simulations andreal robot platforms. BenchBot provides a simple interface to the sensorimotorcapabilities of a robot when solving robotics research problems; an interfacethat is consistent regardless of whether the target platform is simulated or areal robot. In this paper we outline the BenchBot system architecture, andexplore the parallels between its user-centric design and an ideal researchdevelopment process devoid of tangential robot engineering challenges. Thepaper describes the research benefits of using the BenchBot system, including:enhanced capacity to focus solely on research problems, direct quantitativefeedback to inform research development, tools for deriving comprehensiveperformance characteristics, and submission formats which promote sharabilityand repeatability of research outcomes. BenchBot is publicly available(http://benchbot.org), and we encourage its use in the research community forcomprehensively evaluating the simulated and real world performance of novelrobotic algorithms.

BenchBot: Evaluating Robotics Research in Photorealistic 3D Simulation and on Real Robots