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Benchmarking bimanual cloth manipulation
dc.contributor.author | Garcia Camacho, Irene |
dc.contributor.author | Lippi, Martina |
dc.contributor.author | Welle, Michael C. |
dc.contributor.author | Yin, Hang |
dc.contributor.author | Antonova, Rika |
dc.contributor.author | Varava, Anastasiia |
dc.contributor.author | Borràs Sol, Júlia |
dc.contributor.author | Torras, Carme |
dc.contributor.author | Marino, Alessandro |
dc.contributor.author | Alenyà Ribas, Guillem |
dc.contributor.author | Kragic, Danica |
dc.contributor.other | Universitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2020-02-11T17:12:23Z |
dc.date.available | 2020-02-11T17:12:23Z |
dc.date.issued | 2020 |
dc.identifier.citation | Garcia, I. [et al.]. Benchmarking bimanual cloth manipulation. "IEEE robotics and automation letters", 2020, vol. 5, núm. 2, p. 1111-1118. |
dc.identifier.issn | 2377-3766 |
dc.identifier.uri | http://hdl.handle.net/2117/177491 |
dc.description | © 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. |
dc.description.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. |
dc.format.extent | 8 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.other | Performance Evaluation |
dc.subject.other | Benchmarking |
dc.subject.other | Cooperating Robots |
dc.title | Benchmarking bimanual cloth manipulation |
dc.type | Article |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1109/LRA.2020.2965891 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/8957044 |
dc.rights.access | Open Access |
local.identifier.drac | 26916295 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO/2PE/MDM-2016-0656 |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/H2020/741930/EU/CLOTH manIpulation Learning from DEmonstrations/CLOTHILDE |
local.citation.author | Garcia, I.; Lippi, M.; Welle, M.; Yin, H.; Antonova, R.; Varava, A.; Borras, J.; Torras, C.; Marino, A.; Alenyà, G.; Kragic, D. |
local.citation.publicationName | IEEE robotics and automation letters |
local.citation.volume | 5 |
local.citation.number | 2 |
local.citation.startingPage | 1111 |
local.citation.endingPage | 1118 |
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