POSE: Phase I: Collaborative Open-source Manipulation and Perception Assets for Robotics Ecosystem (COMPARE)

操作是机器人的基本功能。几乎所有关于先进机器人系统的设想都涉及一种类似人类的能力，可以在工业或家庭环境中抓取和操纵物体。虽然正在取得巨大进展，但这一领域长期以来一直缺乏系统的发展和基准方法，导致效率低下甚至停滞不前。该项目致力于通过建立一个开源生态系统（OSE）来消除机器人操作硬件和软件开发和评估的长期障碍。这个范围界定项目代表了第一个系统的、社区驱动的研究，以确定机器人操作研究人员在开源资产（OSA）开发、利用和传播方面的需求和愿望。该项目将提供机器人操作方面的全面OSE工作，包括物理的、数字的、教学的和功能的osa，从而建立一个有效和可持续的OSE。项目团队和合作者代表了五个不同的开源软件组织（YCB对象和模型集、NIST组装任务板、家用布对象集、耶鲁开放手和机器人操作系统（ROS）），以及几个行业合作伙伴和联盟。消除导致机器人操作研究停滞不前的障碍，可能会促使机器人技术在辅助机器人、制造业和物流行业的大量应用中取得快速进展。开放源代码资产的便利有望扩大受过训练的机器人专家的数量，并刺激机器人市场。预计，通过大幅减少经济负担和人力负担，可以降低机器人教育的门槛。项目网站：https://robot-manipulation.This该奖项反映了美国国家科学基金会的法定使命，并通过基金会的知识价值和更广泛的影响审查标准进行评估，认为值得支持。

Manipulation is an essential function for robots. Nearly all visions of advanced robot systems involve a human-like ability to grasp and manipulate objects in industrial or home settings. While great progress is being made, this domain has long suffered from a lack of systematic development and benchmarking methodologies, causing inefficiencies and even stagnation. This project strives to remove the longstanding roadblocks to the development and assessment of robot manipulation hardware and software by establishing an open-source ecosystem (OSE). This scoping project represents the first systematic, community-driven study to determine the needs and wants of robot manipulation researchers regarding open-source asset (OSA) development, utilization, and dissemination. This project will provide the a comprehensive OSE effort in robot manipulation covering physical, digital, instructional, and functional OSAs, leading to the establishment of an effective and sustainable OSE. The project team and collaborators represent five diverse OSAs (the YCB Object and Model Set, NIST Assembly Task Boards, Household Cloth Object Set, Yale OpenHands, and the Robot Operating System (ROS)), along with several industry partners and consortia. Removing the roadblocks that cause stagnation in robot manipulation research may trigger rapid progress towards enabling the robotics technology for a large array of applications in assistive robotics, manufacturing, and logistics industries. Having easy access to open-source assets is expected to expand the number of trained roboticists and stimulate the robotics market. The OSE is also expected to lower the barriers to affordable robotics education by significantly reducing both financial and effort burden. Project website: https://robot-manipulation.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.