In this section
@article{Luo:2024:10.1109/LRA.2024.3440101,
author = {Luo, H and Demiris, Y},
doi = {10.1109/LRA.2024.3440101},
journal = {IEEE Robotics and Automation Letters},
pages = {8202--8209},
title = {Benchmarking and simulating bimanual robot shoe lacing},
url = {http://dx.doi.org/10.1109/LRA.2024.3440101},
volume = {9},
year = {2024}
}
TY - JOUR
AB - Manipulation of deformable objects is a challenging domain in robotics. Although it has been gaining attention in recent years, long-horizon deformable object manipulation remains largely unexplored. In this letter, we propose a benchmark for the bi-manual Shoe Lacing (SL) task for evaluating and comparing long-horizon deformable object manipulation algorithms. SL is a difficult sensorimotor task in everyday life as well as the shoe manufacturing sector. Due to the complexity of the shoe structure, SL naturally requires sophisticated long-term planning. We provide a rigorous definition of the task and protocols to ensure the repeatability of SL experiments. We present 6 benchmark metrics for quantitatively measuring the ecological validity of approaches towards bi-manual SL. We further provide an open-source simulation environment for training and testing SL algorithms, as well as details of the construction and usage of the environment. We evaluate a baseline solution according to the proposed metrics in both reality and simulation.
AU - Luo,H
AU - Demiris,Y
DO - 10.1109/LRA.2024.3440101
EP - 8209
PY - 2024///
SN - 2377-3766
SP - 8202
TI - Benchmarking and simulating bimanual robot shoe lacing
T2 - IEEE Robotics and Automation Letters
UR - http://dx.doi.org/10.1109/LRA.2024.3440101
UR - https://ieeexplore.ieee.org/document/10629040
UR - http://hdl.handle.net/10044/1/113353
VL - 9
ER -
