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Analysis and Observations from the First Amazon Picking Challenge

arXiv 1601.05484 ↗First posted 21 Jan 2016cs.ROcited by 41

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Abstract (arXiv)

This paper presents a overview of the inaugural Amazon Picking Challenge along with a summary of a survey conducted among the 26 participating teams. The challenge goal was to design an autonomous robot to pick items from a warehouse shelf. This task is currently performed by human workers, and there is hope that robots can someday help increase efficiency and throughput while lowering cost. We report on a 28-question survey posed to the teams to learn about each team's background, mechanism design, perception apparatus, planning and control approach. We identify trends in this data, correlate it with each team's success in the competition, and discuss observations and lessons learned based on survey results and the authors' personal experiences during the challenge.

Key facts. Cited by 41 papers in the map (data through 7 Oct 2026). First posted on arXiv 21 Jan 2016.

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Citing papers per year: 2021: 9; 2022: 4; 2023: 9; 2024: 6; 2025: 10; 2026: 3.

41 papers.

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  1. 2024Evaluating Real-World Robot Manipulation Policies in Simulationcited by 484
  2. 2024CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulationcited by 411
  3. 2023Language-Driven Representation Learning for Roboticscited by 163
  4. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 161
  5. 2021Revisiting Point Cloud Shape Classification with a Simple and Effective Baselinecited by 145
  6. 2024BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulationcited by 140
  7. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 104
  8. 2021Visual Room Rearrangementcited by 101
  9. 2021Beyond Pick-and-Place: Tackling Robotic Stacking of Diverse Shapescited by 70
  10. 2026RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robotscited by 65
  11. 2025RoboArena: Distributed Real-World Evaluation of Generalist Robot Policiescited by 63
  12. 2023Train Offline, Test Online: A Real Robot Learning Benchmarkcited by 47
29 more
  1. 2024Graspness Discovery in Clutters for Fast and Accurate Grasp Detectioncited by 47
  2. 2025AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real Worldcited by 46
  3. 2021Sample-Efficient Safety Assurances using Conformal Predictioncited by 41
  4. 2023KITE: Keypoint-Conditioned Policies for Semantic Manipulationcited by 39
  5. 2021From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligencecited by 35
  6. 2023Parameter is Not All You Need: Starting from Non-Parametric Networks for 3D Point Cloud Analysiscited by 34
  7. 2025Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactionscited by 27
  8. 2024An Economic Framework for 6-DoF Grasp Detectioncited by 23
  9. 2021Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Taskscited by 18
  10. 2023ARMBench: An Object-centric Benchmark Dataset for Robotic Manipulationcited by 18
  11. 2025RobotArena ∞: Scalable Robot Benchmarking via Real-to-Sim Translationcited by 15
  12. 2022HRPose: Real-Time High-Resolution 6D Pose Estimation Network Using Knowledge Distillationcited by 11
  13. 2021Cooperative Multi-Agent Path Finding: Beyond Path Planning and Collision Avoidancecited by 8
  14. 2025GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenescited by 8
  15. 2021Benchmarking Off-The-Shelf Solutions to Robotic Assembly Taskscited by 6
  16. 2022A Simple Approach for Visual Rearrangement: 3D Mapping and Semantic Searchcited by 6
  17. 2023Nearest Neighbors Meet Deep Neural Networks for Point Cloud Analysiscited by 5
  18. 2023Literature Review: Computer Vision Applications in Transportation Logistics and Warehousingcited by 5
  19. 2023Model-free Grasping with Multi-Suction Cup Grippers for Robotic Bin Pickingcited by 5
  20. 2022Category-Level Global Camera Pose Estimation with Multi-Hypothesis Point Cloud Correspondencescited by 3
  21. 2025Demonstrating Multi-Suction Item Picking at Scale via Multi-Modal Learning of Pick Successcited by 1
  22. 2025Language-Guided Grasp Detection with Coarse-to-Fine Learning for Robotic Manipulationcited by 1
  23. 2022Physics-Based Object 6D-Pose Estimation during Non-Prehensile Manipulationcited by 0
  24. 2024An Integrated Approach to Robotic Object Grasping and Manipulationcited by 0
  25. 2025Learning to Optimize Package Picking for Large-Scale, Real-World Robot Inductioncited by 0
  26. 2025RoboEye: Enhancing 2D Robotic Object Identification with Selective 3D Geometric Keypoint Matchingcited by 0
  27. 2025Constant-Time Planning for Chaining Collision-free Motion to Manipulation Behaviorscited by 0
  28. 2026Visual Foresight for Robotic Stow: A Diffusion-Based World Model from Sparse Snapshotscited by 0
  29. 2026Robustness of Robotic Manipulation: Foundations and Frontierscited by 0