CORE
🇺🇦
make metadata, not war
Services
Services overview
Explore all CORE services
Access to raw data
API
Dataset
FastSync
Content discovery
Recommender
Discovery
OAI identifiers
OAI Resolver
Managing content
Dashboard
Bespoke contracts
Consultancy services
Support us
Support us
Membership
Sponsorship
Community governance
Advisory Board
Board of supporters
Research network
About
About us
Our mission
Team
Blog
FAQs
Contact us
Benchmarking bimanual cloth manipulation
Authors
Guillem Alenyà Ribas
Rika Antonova
+9 more
Júlia Borràs Sol
Irene Garcia Camacho
Danica Kragic
Martina Lippi
Alessandro Marino
Carme Torras
Anastasiia Varava
Michael C. Welle
Hang Yin
Publication date
1 January 2020
Publisher
'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Cite
Abstract
© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.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.Peer ReviewedPostprint (author's final draft
Similar works
Full text
Open in the Core reader
Download PDF
Available Versions
UPCommons
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:upcommons.upc.edu:2117/177...
Last time updated on 17/04/2020
Archivio della Ricerca - Università di Roma 3
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:iris.uniroma3.it:11590/423...
Last time updated on 02/12/2022
Digital.CSIC
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:digital.csic.es:10261/2197...
Last time updated on 19/11/2020
UPCommons. Portal del coneixement obert de la UPC
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:upcommons.upc.edu:2117/177...
Last time updated on 30/03/2020
IRIS Unicas (Università degli Studi di Cassino e del Lazio Meridionale)
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:iris.unicas.it:11580/74457
Last time updated on 05/03/2023