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Benchmarking in Manipulation Research: Using the Yale-CMU-Berkeley Object and Model Set

Berk Calli, Aaron Walsman, Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel, Aaron M. Dollar
<span title="">2015</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/x6agkd37nzhfjbzh3ujapu7ovm" style="color: black;">IEEE robotics &amp; automation magazine</a> </i> &nbsp;
The associated database provides high-resolution RGBD scans, physical properties, and geometric models of the objects for easy incorporation into manipulation and planning software platforms.  ...  as well as continually evolve benchmarking tests as the field matures.  ...  Acknowledgment The authors would like to thank Michael Leddy for his efforts in measuring the physical properties of the objects in the set.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/mra.2015.2448951">doi:10.1109/mra.2015.2448951</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/xspd3hlskjdvji6b2733hrhcti">fatcat:xspd3hlskjdvji6b2733hrhcti</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190402201810/http://berkcalli.com/publications/2015-CalliWalsmanSinghDollar.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/e0/ce/e0ce0e87edb08038c1432755909bb7270026ec50.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/mra.2015.2448951"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

REPLAB: A Reproducible Low-Cost Arm Benchmark Platform for Robotic Learning [article]

Brian Yang, Jesse Zhang, Vitchyr Pong, Sergey Levine, Dinesh Jayaraman
<span title="2019-05-17">2019</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
protocol, performance measures, and a dataset of 92k grasp attempts.  ...  We implement, evaluate, and analyze several previously proposed grasping approaches to establish baselines for this benchmark.  ...  Kamil Shams and Alan Downing for participating in verifying the reproducibility of REPLAB and providing useful feedback, and Trossen Robotics for their assistance with the WidowX arm.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1905.07447v1">arXiv:1905.07447v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/saonmpiw6bairfp6xuy5dip7oi">fatcat:saonmpiw6bairfp6xuy5dip7oi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200827074347/https://arxiv.org/pdf/1905.07447v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/28/a3/28a3b7f35b22c0140c9b9cbd8cdb0cfc03723181.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1905.07447v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

The YCB object and Model set: Towards common benchmarks for manipulation research

Berk Calli, Arjun Singh, Aaron Walsman, Siddhartha Srinivasa, Pieter Abbeel, Aaron M. Dollar
<span title="">2015</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/qwm2kwjnlzgfrkc6iwdnqjmnvm" style="color: black;">2015 International Conference on Advanced Robotics (ICAR)</a> </i> &nbsp;
In this paper we present the Yale-CMU-Berkeley (YCB) Object and Model set, intended to be used for benchmarking in robotic grasping and manipulation research.  ...  The associated database provides high-resolution RGBD scans, physical properties and geometric models of the objects for easy incorporation into manipulation and planning software platforms.  ...  ACKNOWLEDGMENT The authors would like to thank Michael Leddy for his efforts in measuring the physical properties of the objects in the set.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icar.2015.7251504">doi:10.1109/icar.2015.7251504</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/icar/CalliSWSAD15.html">dblp:conf/icar/CalliSWSAD15</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/bacle7ruqrbwng5iiwlpd73xhq">fatcat:bacle7ruqrbwng5iiwlpd73xhq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20160923030547/http://www.ri.cmu.edu/pub_files/2015/7/ICAR-FINAL.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b8/53/b853d4c6341d466a887fba987fe182995d6c8da6.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icar.2015.7251504"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

GRASPA 1.0 : GRASPA is a Robot Arm graSping Performance benchmArk

Fabrizio Bottarel, Giulia Vezzani, Ugo Pattacini, Lorenzo Natale
<span title="">2020</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/g32gcto57vduveq2eb7bes5y7a" style="color: black;">IEEE Robotics and Automation Letters</a> </i> &nbsp;
In the context of robot grasping the use of common object sets has emerged in recent years, however no dominant protocols and metrics to test grasping pipelines have taken root yet.  ...  As an example application, we deploy GRASPA on the iCub humanoid robot and use it to benchmark our grasping pipeline.  ...  Fig. 6 . 6 Rendering of the grasp poses planned for layout 0 with the tested algorithm.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/lra.2020.2965865">doi:10.1109/lra.2020.2965865</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/yzs7ldv4qzfjbcgq62kyqxpare">fatcat:yzs7ldv4qzfjbcgq62kyqxpare</a> </span>
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Benchmarking Robot Manipulation with the Rubik's Cube

Boling Yang, Patrick Lancaster, Siddhartha Srinivasa, Joshua R. Smith
<span title="">2020</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/g32gcto57vduveq2eb7bes5y7a" style="color: black;">IEEE Robotics and Automation Letters</a> </i> &nbsp;
To demonstrate the benchmark's applicability to other robot platforms and algorithmic approaches, we present the functional blocks required to enable the HERB robot to manipulate the Rubik's cube via push-grasping  ...  We present a protocol for quantitatively measuring both the accuracy and speed of Rubik's cube manipulation.  ...  PROTOCOL FOR RUBIK'S CUBE MANIPULATION We propose a protocol to measure both the accuracy and speed of Rubik's cube manipulation.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/lra.2020.2969912">doi:10.1109/lra.2020.2969912</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/bzlllhimf5aojp4ib7ergpmmye">fatcat:bzlllhimf5aojp4ib7ergpmmye</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220218115404/https://arxiv.org/pdf/2202.07074v1.pdf" title="fulltext PDF download [not primary version]" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <span style="color: #f43e3e;">&#10033;</span> <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/26/d5/26d536aaf8d256632a3e80a01c56d0ac245d1589.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/lra.2020.2969912"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

DeepClaw: A Robotic Hardware Benchmarking Platform for Learning Object Manipulation [article]

Fang Wan, Haokun Wang, Xiaobo Liu, Linhan Yang, Chaoyang Song
<span title="2020-05-06">2020</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We also propose a hierarchical pipeline of software integration, including localization, recognition, grasp planning, and motion planning, to streamline learning-based robot control, data collection, and  ...  We present DeepClaw as a reconfigurable benchmark of robotic hardware and task hierarchy for robot learning.  ...  Actions are given to the manipulation system. force-closure for grasp planning [29] , length and clearance for motion planning [30] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2005.02588v1">arXiv:2005.02588v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/6z7tu7ejqffnpjvfzfjvklo4uq">fatcat:6z7tu7ejqffnpjvfzfjvklo4uq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200508102713/https://arxiv.org/pdf/2005.02588v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2005.02588v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

OCRTOC: A Cloud-Based Competition and Benchmark for Robotic Grasping and Manipulation [article]

Ziyuan Liu, Wei Liu, Yuzhe Qin, Fanbo Xiang, Minghao Gou, Songyan Xin, Maximo A. Roa, Berk Calli, Hao Su, Yu Sun, Ping Tan
<span title="2021-07-18">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
In this paper, we propose a cloud-based benchmark for robotic grasping and manipulation, called the OCRTOC benchmark.  ...  With the OCRTOC benchmark, we aim to lower the barrier of conducting reproducible research on robotic grasping and manipulation and accelerate progress in this field.  ...  Several benchmarks are defined for robotic grasping [11, 18] , bi-manual manipulation [19, 20] , and motion planning [21] . 3D printed and sensorized objects are also made available for benchmarking  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2104.11446v2">arXiv:2104.11446v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/wfjlaoysnfbynmy2xtn5gu4nd4">fatcat:wfjlaoysnfbynmy2xtn5gu4nd4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210721144449/https://arxiv.org/pdf/2104.11446v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/aa/26/aa262b568c6a4fd24b36fa37dc282bc0c9a46d2e.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2104.11446v2" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Benchmarking In-Hand Manipulation

Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, Danica Kragic
<span title="">2020</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/g32gcto57vduveq2eb7bes5y7a" style="color: black;">IEEE Robotics and Automation Letters</a> </i> &nbsp;
The purpose of this benchmark is to evaluate the planning and control aspects of robotic in-hand manipulation systems.  ...  We provide supporting software, task examples, and evaluation results associated with the benchmark.  ...  While our benchmark focuses on physical robot execution, the procedure is still valid in simulation and also for benchmarking of planning algorithms.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/lra.2020.2964160">doi:10.1109/lra.2020.2964160</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/rnfcfenkrbd5reiu47dfvdajry">fatcat:rnfcfenkrbd5reiu47dfvdajry</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200928141450/https://arxiv.org/pdf/2001.03070v1.pdf" title="fulltext PDF download [not primary version]" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <span style="color: #f43e3e;">&#10033;</span> <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/6e/56/6e56e4f47d05fba9f14861aa435e4eee02f8fd49.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/lra.2020.2964160"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Multimodal Manipulation Under Uncertainty (Dagstuhl Seminar 15411)

Jan Peters, Justus Piater, Robert Platt, Siddhartha Srinivasa, Marc Herbstritt
<span title="2016-02-10">2016</span> <i title="Schloss Dagstuhl Leibniz-Zentrum für Informatik GmbH"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/u2phfyhrhje7xnnubtp3vfklcu" style="color: black;">Dagstuhl Reports</a> </i> &nbsp;
Benchmarks for robotic manipulation: A key challenge is in developing benchmark objects and protocols that a) are of interest to all communities (planning, perception, control, learning), b) generalizable  ...  A benchmarking protocol would need to focus on perceptual information and not raw sensor data. Protocols could be designed that purposely occlude or disallow computer vision.  ...  , one for grasping mugs, one for grasping cloth, . . . ), or is each box very general (a master type algorithm)?  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.4230/dagrep.5.10.1">doi:10.4230/dagrep.5.10.1</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/journals/dagstuhl-reports/PetersPPS15.html">dblp:journals/dagstuhl-reports/PetersPPS15</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/zft3clt2yvf5zc3fy7gealgnda">fatcat:zft3clt2yvf5zc3fy7gealgnda</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220123034337/https://drops.dagstuhl.de/opus/volltexte/2016/5696/pdf/dagrep_v005_i010_p001_s15411.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/32/53/3253735d7bb144f1e28da365ad7d548330c62b2c.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.4230/dagrep.5.10.1"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

The Anthropomorphic Hand Assessment Protocol (AHAP)

Immaculada Llop-Harillo, Antonio Pérez-González, Julia Starke, Tamim Asfour
<span title="">2019</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ncwahgzkgbfljbalytxadcov3u" style="color: black;">Robotics and Autonomous Systems</a> </i> &nbsp;
The need for benchmarking in grasping research has been recognized by the robotics community as an important topic.  ...  In this study we present the Anthropomorphic Hand Assessment Protocol (AHAP) to address this need by providing a measure for quantifying the grasping ability of artificial hands and comparing hand designs  ...  Several sets of virtual objects have been proposed for grasp planning research in service robotics [26, 27] , but the availability of the physical objects is sometimes limited [7] .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.robot.2019.103259">doi:10.1016/j.robot.2019.103259</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/4seckkf5r5a2bnoaxeynlmhjiu">fatcat:4seckkf5r5a2bnoaxeynlmhjiu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200217083800/https://publikationen.bibliothek.kit.edu/1000099552/47887013" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/6e/cc/6eccb96990bf62e56f61b4def82494866c807d3c.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.robot.2019.103259"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> elsevier.com </button> </a>

The ACRV Picking Benchmark (APB): A Robotic Shelf Picking Benchmark to Foster Reproducible Research [article]

Jürgen Leitner, Adam W. Tow, Jake E. Dean, Niko Suenderhauf, Joseph W. Durham, Matthew Cooper, Markus Eich, Christopher Lehnert, Ruben Mangels, Christopher McCool, Peter Kujala, Lachlan Nicholson, Trung Pham (+5 others)
<span title="2016-12-14">2016</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We present a new physical benchmark challenge for robotic picking: the ACRV Picking Benchmark (APB).  ...  They make research comparable on a well-defined benchmark with equal test conditions for all participants.  ...  Therefore a number of benchmarks and datasets exist that focus only on perception, grasping, or path planning. A.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1609.05258v2">arXiv:1609.05258v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/2xadnkkspfcnrazwfyyk3qdikm">fatcat:2xadnkkspfcnrazwfyyk3qdikm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200827054228/https://arxiv.org/pdf/1609.05258v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/8a/3a/8a3ad9faad87e137cd4ffb0bba0a0383400a30fe.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1609.05258v2" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Research Challenges and Progress in Robotic Grasping and Manipulation Competitions [article]

Yu Sun, Joe Falco, Maximo A. Roa, Berk Calli
<span title="2021-12-09">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
This paper discusses recent research progress in robotic grasping and manipulation in the light of the latest Robotic Grasping and Manipulation Competitions (RGMCs).  ...  We first provide an overview of past benchmarks and competitions related to the robotics manipulation field. Then, we discuss the methodology behind designing the manipulation tasks in RGMCs.  ...  Stolkin, “Bench- lard (2016), Zeyang Xia (2016), Yasuyoshi Yokokohji (2017, marking protocol for grasp planning algorithms,” IEEE Robotics and 2019), Zoe Doulgeri (2017), Yunjiang  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2108.01483v2">arXiv:2108.01483v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/mw6chxqo4jccxpncihvxhxxaoa">fatcat:mw6chxqo4jccxpncihvxhxxaoa</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20211211042431/https://arxiv.org/pdf/2108.01483v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b2/a2/b2a21802bb936e4bd4a389e1e3c6490b8b03d230.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2108.01483v2" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Benchmark for Human-to-Robot Handovers of Unseen Containers with Unknown Filling

Ricardo Sanchez Matilla, Konstantinos Chatzilygeroudis, Apostolos Modas, Nuno Ferreira Duarte, Alessio Xompero, Pascal Frossard, Aude Billard, Andrea Cavallaro
<span title="">2020</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/g32gcto57vduveq2eb7bes5y7a" style="color: black;">IEEE Robotics and Automation Letters</a> </i> &nbsp;
The real-time estimation through vision of the physical properties of objects manipulated by humans is important to inform the control of robots for performing accurate and safe grasps of objects handed  ...  Index Terms-Performance evaluation and benchmarking, perception for manipulation, human-robot handover. ). A. Modas and P. Frossard are with LTS4,  ...  benchmark protocol with performance measures for tasks such as pouring a liquid from a container, pick-and-place for table setting, peg-insertion, and box-and-block tests (i.e., grasping and moving an  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/lra.2020.2969200">doi:10.1109/lra.2020.2969200</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/vlmhak3vlvahfct5pjgmurrkmu">fatcat:vlmhak3vlvahfct5pjgmurrkmu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20201108043907/https://ieeexplore.ieee.org/ielx7/7083369/8932682/08968407.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/9b/64/9b6497f370339bfb6c4037173ec7b490084fbf43.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/lra.2020.2969200"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Latest Datasets and Technologies Presented in the Workshop on Grasping and Manipulation Datasets [article]

Matteo Bianchi, Jeannette Bohg, Yu Sun
<span title="2016-09-08">2016</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
This summary servers as a review of recent developments in data collection in grasping and manipulation.  ...  The workshop clearly displayed the importance of quality datasets in robotics and robotic grasping and manipulation field.  ...  Disparate grasp planning algorithms have been developed mainly for the former kind of hands, although some attempts have begun to sprout also for the latter ones.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1609.02531v1">arXiv:1609.02531v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/eh55sor6mfc6pekm3r75bpwxcm">fatcat:eh55sor6mfc6pekm3r75bpwxcm</a> </span>
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Functionalities, Benchmarking System and Performance Evaluation for a Domestic Service Robot: People Perception, People Following, and Pick and Placing

Meysam Basiri, João Pereira, Rui Bettencourt, Enrico Piazza, Emanuel Fernandes, Carlos Azevedo, Pedro Lima
<span title="2022-05-10">2022</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/smrngspzhzce7dy6ofycrfxbim" style="color: black;">Applied Sciences</a> </i> &nbsp;
This paper describes the development of three main functionalities for a domestic mobile service robot and an automatic benchmarking system used for the systematic performance evaluation of the robot's  ...  Furthermore, a set of innovative benchmarks and an automatic performance evaluation system are proposed and used to evaluate the performance of the developed functionalities.  ...  A pick and place routine usually consists of four main steps [36] : (1) choosing a grasp on the item, (2) planning a motion to grasp the item, (3) planning a motion to the placement location and (4) plan  ... 
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<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220511020359/https://mdpi-res.com/d_attachment/applsci/applsci-12-04819/article_deploy/applsci-12-04819.pdf?version=1652180526" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/c7/52/c7529adc5394d7f679c7c6a2b9e55e6d6657d019.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3390/app12104819"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> mdpi.com </button> </a>
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