Abstract
Standardised benchmarks for robotic manipulation are rare, especially in the domain of cloth manipulation. To address this, we present the ICRA 2024 Cloth Competition, where 11 diverse teams competed with a shared dual-arm robot to unfold garments. This unique head-to-head evaluation focused on grasp pose selection as a critical decision point for unfolding. To help participants develop their methods, we collected and publicly
released a dataset of real-world robotic cloth unfolding attempts. Expanded with 176 live evaluation trials, this dataset now encompasses 679 unfolding demonstrations across 34 garments, resulting in one of the most comprehensive collections of real-world robotic cloth manipulation data. The competition has established a valuable benchmark and reference for robotic cloth manipulation research through its rigorous real-world evaluation and extensive dataset. Results revealed a significant discrepancy between competition performance and prior work, underscoring the importance of independent out-of-the-lab evaluation in robotic cloth manipulation.
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BibTeX (Download)
@online{DeGusseme2024BenchmarkingGrasp,
title = {Benchmarking Grasp Selection for Robotic Cloth Unfolding: 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 Muhovic and Danijel Skocaj 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},
url = {https://airo.ugent.be/cloth_competition/},
year = {2024},
date = {2024-10-16},
abstract = {Standardised benchmarks for robotic manipulation are rare, especially in the domain of cloth manipulation. To address this, we present the ICRA 2024 Cloth Competition, where 11 diverse teams competed with a shared dual-arm robot to unfold garments. This unique head-to-head evaluation focused on grasp pose selection as a critical decision point for unfolding. To help participants develop their methods, we collected and publicly
released a dataset of real-world robotic cloth unfolding attempts. Expanded with 176 live evaluation trials, this dataset now encompasses 679 unfolding demonstrations across 34 garments, resulting in one of the most comprehensive collections of real-world robotic cloth manipulation data. The competition has established a valuable benchmark and reference for robotic cloth manipulation research through its rigorous real-world evaluation and extensive dataset. Results revealed a significant discrepancy between competition performance and prior work, underscoring the importance of independent out-of-the-lab evaluation in robotic cloth manipulation.},
note = {Submitted to IEEE Transactions on Robotics},
keywords = {Co-Author, Under Review},
pubstate = {forthcoming},
tppubtype = {online}
}
