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.
Benchmarking Bimanual Cloth Manipulation
Marino, Alessandro
2020-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
