Benchmarking Bimanual Cloth Manipulation

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: spr...

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Detalles Bibliográficos
Autores: García-Camacho, Irene, Lippi, Martina, Welle, Michael C., Yin, Hang, Antonova, Rika, Varava, Anastasiia, Borràs, Julia, Torras, Carme, Marino, Alessandro, Alenyà, Guillem, Kragic, Danica
Tipo de recurso: artículo
Estado:Versión enviada para evaluación y publicación
Fecha de publicación:2020
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/219784
Acceso en línea:http://hdl.handle.net/10261/219784
Access Level:acceso abierto
Palabra clave:Performance evaluation and benchmarking
Cooperating Robots
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spelling Benchmarking Bimanual Cloth ManipulationGarcía-Camacho, IreneLippi, MartinaWelle, Michael C.Yin, HangAntonova, RikaVarava, AnastasiiaBorràs, JuliaTorras, CarmeMarino, AlessandroAlenyà, GuillemKragic, DanicaPerformance evaluation and benchmarkingCooperating RobotsCloth 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.Peer reviewedInstitute of Electrical and Electronics EngineersEuropean CommissionMinisterio de Economía y Competitividad (España)Ministerio de Ciencia, Innovación y Universidades (España)Agencia Estatal de Investigación (España)Knut and Alice Wallenberg FoundationSwedish Research CouncilGarcía-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]Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202020202020info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Preprintinfo:eu-repo/semantics/submittedVersionhttp://hdl.handle.net/10261/219784reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés#PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE#info:eu-repo/grantAgreement/EC/H2020/74193info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PCIN2019-103447PCIN2019-103447/AEI/10.13039/501100011033info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/MDM-2016- 0656info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RYC-2017-22703RYC-2017-22703/AEI/10.13039/501100011033http://dx.doi.org/10.1109/LRA.2020.2965891Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/2197842026-05-22T06:33:51Z
dc.title.none.fl_str_mv Benchmarking Bimanual Cloth Manipulation
title Benchmarking Bimanual Cloth Manipulation
spellingShingle Benchmarking Bimanual Cloth Manipulation
García-Camacho, Irene
Performance evaluation and benchmarking
Cooperating Robots
title_short Benchmarking Bimanual Cloth Manipulation
title_full Benchmarking Bimanual Cloth Manipulation
title_fullStr Benchmarking Bimanual Cloth Manipulation
title_full_unstemmed Benchmarking Bimanual Cloth Manipulation
title_sort Benchmarking Bimanual Cloth Manipulation
dc.creator.none.fl_str_mv García-Camacho, Irene
Lippi, Martina
Welle, Michael C.
Yin, Hang
Antonova, Rika
Varava, Anastasiia
Borràs, Julia
Torras, Carme
Marino, Alessandro
Alenyà, Guillem
Kragic, Danica
author García-Camacho, Irene
author_facet García-Camacho, Irene
Lippi, Martina
Welle, Michael C.
Yin, Hang
Antonova, Rika
Varava, Anastasiia
Borràs, Julia
Torras, Carme
Marino, Alessandro
Alenyà, Guillem
Kragic, Danica
author_role author
author2 Lippi, Martina
Welle, Michael C.
Yin, Hang
Antonova, Rika
Varava, Anastasiia
Borràs, Julia
Torras, Carme
Marino, Alessandro
Alenyà, Guillem
Kragic, Danica
author2_role author
author
author
author
author
author
author
author
author
author
dc.contributor.none.fl_str_mv 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]
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Performance evaluation and benchmarking
Cooperating Robots
topic Performance evaluation and benchmarking
Cooperating Robots
description 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.
publishDate 2020
dc.date.none.fl_str_mv 2020
2020
2020
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Preprint
info:eu-repo/semantics/submittedVersion
format article
status_str submittedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/219784
url http://hdl.handle.net/10261/219784
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv #PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
info:eu-repo/grantAgreement/EC/H2020/74193
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PCIN2019-103447
PCIN2019-103447/AEI/10.13039/501100011033
info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/MDM-2016- 0656
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RYC-2017-22703
RYC-2017-22703/AEI/10.13039/501100011033
http://dx.doi.org/10.1109/LRA.2020.2965891
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,811543

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