Benchmarking bimanual cloth manipulation

Autor: Michael C. Welle, Alessandro Marino, Martina Lippi, Guillem Alenyà, Anastasiia Varava, Rika Antonova, Danica Kragic, Julia Borras, Irene Garcia-Camacho, Carme Torras, Hang Yin
Přispěvatelé: Universitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió, Institut de Robòtica i Informàtica Industrial, Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI, European Commission, Ministerio de Economía y Competitividad (España), Ministerio de Ciencia, Innovación y Universidades (España), Agencia Estatal de Investigación (España), Knut and Alice Wallenberg Foundation, Swedish Research Council, García-Camacho, Irene [0000-0002-1210-7345], Lippi, Martina [0000-0003-0470-9191], Welle, Michael C. [0000-0003-3827-3824], Yin, Hang [0000-0002-3599-440X], Varava, Anastasiia [0000-0002-0900-1523], Borràs, Julia [0000-0002-1662-2037], Torras, Carme [0000-0002-2933-398X], Marino, Alessandro [0000-0002-9050-9825], Alenyà, Guillem [0000-0002-6018-154X], Kragic, Danica [0000-0003-2965-2953], Garcia-Camacho, Irene, Lippi, Martina, Welle, Michael C., Yin, Hang, Antonova, Rika, Varava, Anastasiia, Borras, Julia, Torras, Carme, Marino, A., Alenyà, Guillem, Kragic, Danica, García-Camacho, Irene, Borràs, Julia, Marino, Alessandro
Předmět:
0209 industrial biotechnology
Performance Evaluation
Control and Optimization
Computer science
media_common.quotation_subject
Biomedical Engineering
02 engineering and technology
Cooperating Robots
Task (project management)
Automation::Robots [Classificació INSPEC]
020901 industrial engineering & automation
Artificial Intelligence
Human–computer interaction
0202 electrical engineering
electronic engineering
information engineering
Quality (business)
Performance Evaluation and Benchmarking
media_common
business.industry
Mechanical Engineering
Robotics
Benchmarking
Object (computer science)
Computer Science Applications
Human-Computer Interaction
Control and Systems Engineering
Table (database)
020201 artificial intelligence & image processing
Computer Vision and Pattern Recognition
Artificial intelligence
Performance Evaluation and Benchmarking
Cooperating Robots
business
Informàtica::Robòtica [Àrees temàtiques de la UPC]
Zdroj: Recercat. Dipósit de la Recerca de Catalunya
instname
UPCommons. Portal del coneixement obert de la UPC
Universitat Politècnica de Catalunya (UPC)
Digital.CSIC. Repositorio Institucional del CSIC
IEEE Robotics and Automation Letters
Popis: Cloth manipulation is a challenging task that, despite its importance, has received relatively little attention compared to rigid object manipulation. In this paper, we provide three benchmarks for evaluation and comparison of different approaches towards three basic tasks in cloth manipulation: spreading a tablecloth over a table, folding a towel, and dressing. The tasks can be executed on any bimanual robotic platform and the objects involved in the tasks are standardized and easy to acquire. We provide several complexity levels for each task, and describe the quality measures to evaluate task execution. Furthermore, we provide baseline solutions for all the tasks and evaluate them according to the proposed metrics.
This work receives funding from the European Union Horizon 2020 Programme under grant agreement no. 741930 (CLOTHILDE), Spanish State Research Agency through the BURG project (CHIST-ERA - PCIN2019- 103447) and the Mar´ıa de Maeztu Seal of Excellence to IRI (MDM-2016- 0656), the “Ramon y Cajal” Fellowship RYC-2017-22703, the Knut and Alice Wallenberg Foundation, and the Swedish Research Council.
Databáze: OpenAIRE
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