面向机器人布料展开抓取选择的数据集与基准：ICRA 2024 布料竞赛
机器人学
2026-02-03 v2
摘要
机器人布料操控缺乏标准化基准和共享数据集以用于评估和比较不同方法。为此，我们创建了一个基准并组织了 ICRA 2024 布料竞赛，这是一项聚焦于面向机器人布料展开抓取姿态选择的 head-to-head 评估。十一支多样化团队参与了本次竞赛，他们利用我们公开的数据集以及各种方法设计了自己的展开方法。随后，我们还扩展了数据集，增加了 176 项竞赛评估试验， resulting 在 34 件服装件上形成 679 项展开演示的数据集。对竞赛结果的分析揭示了关于抓取成功与覆盖率之间的权衡、手工方法的惊人成就以及竞赛表现与先前工作之间的显著差异，强调了独立、实验室之外评估在机器人布料操控中的重要性。该数据集是开发和评估抓取选择方法的宝贵资源，尤其适用于基于学习的方法。我们希望本基准、数据集和竞赛结果可为未来基准提供基础，并推动数据驱动的机器人布料操控取得进一步进展。数据集和基准代码已提供：https://airo.ugent.be/cloth_competition
引用
@article{arxiv.2508.16749,
title = {A Dataset and Benchmark for Robotic Cloth Unfolding Grasp Selection: The ICRA 2024 Cloth Competition},
author = {Victor-Louis De Gusseme and Thomas Lips and Remko Proesmans and Julius Hietala and Giwan Lee and Jiyoung Choi and Jeongil Choi and Geon Kim and Phayuth Yonrith and Domen Tabernik and Andrej Gams and Peter Nimac and Matej Urbas and Jon Muhovič and Danijel Skočaj and Matija Mavsar and Hyojeong Yu and Minseo Kwon and Young J. Kim and Yang Cong and Ronghan Chen and Yu Ren and Supeng Diao and Jiawei Weng and Jiayue Liu and Haoran Sun and Linhan Yang and Zeqing Zhang and Ning Guo and Lei Yang and Fang Wan and Chaoyang Song and Jia Pan and Yixiang Jin and Yong A and Jun Shi and Dingzhe Li and Yong Yang and Kakeru Yamasaki and Takumi Kajiwara and Yuki Nakadera and Krati Saxena and Tomohiro Shibata and Chongkun Xia and Kai Mo and Yanzhao Yu and Qihao Lin and Binqiang Ma and Uihun Sagong and JungHyun Choi and JeongHyun Park and Dongwoo Lee and Yeongmin Kim and Myun Joong Hwang and Yusuke Kuribayashi and Naoki Hiratsuka and Daisuke Tanaka and Solvi Arnold and Kimitoshi Yamazaki and Carlos Mateo-Agullo and Andreas Verleysen and Francis Wyffels},
journal= {arXiv preprint arXiv:2508.16749},
year = {2026}
}
备注
The International Journal of Robotics Research. 2026;0(0). Published at IJRR - https://journals.sagepub.com/doi/10.1177/02783649251414885