Benchmarking Bimanual Cloth Manipulation
Benchmarking Bimanual Cloth Manipulation
复制标题
双手布料操作基准测试
DOI：
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发表时间：
2020
影响因子：
5.2
通讯作者：
A. Marino
中科院分区：
文献类型：
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作者：
Irene Garcia;G. Alenyà;D. Kragic;M. Lippi;Michael C. Welle;Hang Yin;Rika Antonova;Anastasiia Varava;J. Borràs;C. Torras;A. Marino
布料操作是一项具有挑战性的任务，尽管它很重要，但与刚性物体操作相比，受到的关注相对较少。在这封信中，我们为评估和比较布料操作中三个基本任务的不同方法提供了三个基准：在桌子上铺开桌布、折叠毛巾以及给（人体模型等）穿衣。这些任务可以在任何双臂机器人平台上执行，并且任务中涉及的物品是标准化的且易于获取。我们为每个任务提供了几个复杂程度级别，并描述了评估任务执行情况的质量度量标准。此外，我们为所有任务提供了基线解决方案，并根据所提出的指标对它们进行评估。
Cloth manipulation is a challenging task that, despite its importance, has received relatively little attention compared to rigid object manipulation. In this letter, 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.
影响因子：
7.8
作者：
Doumanoglou, Andreas;Stria, Jan;Malassiotis, Sotiris
通讯作者：
Malassiotis, Sotiris