Benchmarking Bimanual Cloth Manipulation. Garcia-Camacho, I., Alenya, G., Kragic, D., Lippi, M., Welle, M. C., Yin, H., Antonova, R., Varava, A., Borras, J., Torras, C., & Marino, A. IEEE ROBOTICS AND AUTOMATION LETTERS, 5(2):1111–1118, 2020. doi abstract bibtex 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.
@article{
11580_74457,
author = {Garcia-Camacho, Irene and Alenya, Guillem and Kragic, Danica and Lippi, Martina and Welle, Michael C. and Yin, Hang and Antonova, Rika and Varava, Anastasiia and Borras, Julia and Torras, Carme and Marino, Alessandro},
title = {Benchmarking Bimanual Cloth Manipulation},
year = {2020},
journal = {IEEE ROBOTICS AND AUTOMATION LETTERS},
volume = {5},
abstract = {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.},
keywords = {Performance Evaluation and Benchmarking, Cooperating Robots},
doi = {10.1109/LRA.2020.2965891},
pages = {1111--1118},
number = {2}
}
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