Benchmarking Bimanual Cloth Manipulation
Irene Garcia-Camacho, Guillem Alenyà, Danica Kragic, Martina Lippi, Michael C. Welle, Hang Yin, Rika Antonova, Anastasiia Varava
Abstract
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.
BibTeX
@inproceedings{ral2020_benchmarkingbima,
title = {Benchmarking Bimanual Cloth Manipulation},
author = {Irene Garcia-Camacho and Guillem Alenyà and Danica Kragic and Martina Lippi and Michael C. Welle and Hang Yin and Rika Antonova and Anastasiia Varava and Júlia Borràs Sol and Carme Torras and Alessandro Marino},
booktitle = {RA-L 2020},
year = {2020}
}