论文标题
基准进行手持操作
Benchmarking In-Hand Manipulation
论文作者
论文摘要
该基准的目的是评估机器人内部操纵系统的计划和控制方面。目的是通过使用手指，环境或两者组合来评估系统改变手持物体姿势的能力。给定YCB数据集的对象表面网格，我们提供了各种手持操作任务的初始和目标状态（即\静态对象位置和指尖位置）的示例。我们进一步提出指标，以衡量从特定初始状态达到目标状态的误差，当在所有任务中进行汇总时，它也可以作为对系统的手持操作能力的衡量。我们提供与基准相关的支持软件，任务示例和评估结果。所有支持材料均可在https://robot-learning.cs.utah.edu/project/benchmarking_in_hand_manipulation上获得
The purpose of this benchmark is to evaluate the planning and control aspects of robotic in-hand manipulation systems. The goal is to assess the system's ability to change the pose of a hand-held object by either using the fingers, environment or a combination of both. Given an object surface mesh from the YCB data-set, we provide examples of initial and goal states (i.e.\ static object poses and fingertip locations) for various in-hand manipulation tasks. We further propose metrics that measure the error in reaching the goal state from a specific initial state, which, when aggregated across all tasks, also serves as a measure of the system's in-hand manipulation capability. We provide supporting software, task examples, and evaluation results associated with the benchmark. All the supporting material is available at https://robot-learning.cs.utah.edu/project/benchmarking_in_hand_manipulation
