Benchmarking Bimanual Cloth Manipulation
Irene Garcia-Camacho, Martina Lippi, Michael C. Welle, Hang Yin, Rika Antonova, Anastasiia Varava, Júlia Borràs, Carme Torras, Alessandro Marino, Guillem Alenyà, Danica Kragić
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.