IROS 2018 Workshop

Experimental Robotic Grasping and Manipulation -- Benchmarks, Datasets, and Competitions


Call for Posters and Demo Videos

The poster and demo session at this workshop will give the opportunity to researchers to discuss and show their latest results and ongoing research activities with the community. During flash talk and demo presentations, presenters will have the opportunity to introduce their work or show their submitted videos to all workshop attendees.
To participate, please submit by August 15, 2018, an extended abstract of 1-3 pages (in PDF format, IEEE regular paper format) or a 1-2 min video via email to: yusun@mail.usf.edu
All contributions will undergo a review by the organizers, and the authors will be notified of acceptance by August 22, 2018.

Call for Special Issue Paper
[Proposal for Special Issue on Experimental Robotic Grasping and Manipulation]

The special issue will focus on promoting comparable researches in robotic grasping and manipulation. Recently, there is a worldwide trend on designing benchmarks for performance evaluation, establishing community consensus for tasks and rules in competitions, collecting and organizing grasping and manipulation datasets for learning, evaluations, and comparisons. In the last several years, a number of groups in the robotics society have produced high-quality grasping evaluation objects (such as YCB object set), benchmarking metrics (such as the NIST grasping and manipulation performance metrics and benchmarks), daily-living manipulation evaluation tasks (such as the IROS RGMC tasks), manufacturing evaluation tasks (such as the IROS RGMC tasks and WRC tasks), and grasping and manipulation datasets (such as the MIT pushing dataset, IIT robotic hand dataset, USF manipulation dataset, Upenn tactile dataset and Harvard tactile dataset). These are great assets and very valuable for the progression of research in robotic grasping and manipulation. For more please read this.

Important Days

Workshop date: October 5, 2018
Demo video submission deadline: August 15, 2018
Abstract submission deadline: August 15, 2018
Acceptance notification: August 22, 2018
Special Issue Paper Submission: October 30, 2018

Objectives

The workshop will focus on promoting comparable researches in robotic grasping and manipulation. Recently, there is a worldwide trend on designing benchmarks for performance evaluation, establishing community consensus for tasks and rules in competitions, collecting and organizing grasping and manipulation datasets for learning, evaluations, and comparisons. In the last several years, a number of groups in the robotics society have produced high-quality grasping evaluation objects (such as YCB object set), benchmarking metrics (such as the NIST grasping and manipulation performance metrics and benchmarks), daily-living manipulation evaluation tasks (such as the IROS RGMC tasks), manufacturing evaluation tasks (such as the IROS RGMC tasks and WRC tasks), and grasping and manipulation datasets (such as the MIT pushing dataset, IIT robotic hand dataset, USF manipulation dataset, Upenn tactile dataset and Harvard tactile dataset). These are great assets and very valuable for the progression of research in robotic grasping and manipulation. The objectives of the workshop are to bring together researchers from different domains for their common interests in experimental robotic grasping and manipulation, to consolidate their efforts, achievements, and resources, to address the need in promoting comparable research, and to produce fair, easily-implementable, and widely-acceptable benchmarks and evaluation tasks.

Topics of interest

  • Gripper/end effector assessment
  • Performance metrics and benchmarks
  • Manipulation datasets
  • Benchmark-oriented design and development
  • Learning manipulation from datasets
  • Benchmarking mobile manipulations
  • Grasp planning based on manipulation datasets
  • Force/tactile sensing datasets for manipulation
  • Non-prehensile manipulation datasets and models
  • Experience-based motion planning for manipulation
  • Pick-and-place in logistics competition
  • Daily-living manipulation competition
  • Manufacturing manipulation competition

Invited Speakers

  • Matteo Bianchi, UNIPI, Italy (Confirmed)

    Tentative Title: From human hands to soft artificial hands for robots and humans: datasets and lessons learned from competitions

  • Josie Hughes, University of Cambridge, UK (Confirmed)
  • Yasemin Bekiroglu, Vicarious AI, U.S.A (Confirmed)
  • Siddhartha Srinivasa, University of Washington, USA (Confirmed)
  • Fuchun Sun, Tsinghua University, China (Confirmed)
  • Aaron Dollar, Yale University, USA (Confirmed)
  • Nikolaus Correll, University of Colorado at Boulder, USA (Confirmed)
  • Albert Causo and I-Ming Chen, Nanyang Technological University, Singapore (Confirmed)
  • Juxi Leitner, Queensland University of Technology, Australia (Confirmed)
  • Tentative Title: From Benchmarking to Tidying Up Rooms: How we can compare robotic manipulation skills

  • Karl Van Wyk, NIST, USA (Confirmed)
  • Alberto Rodriguez, MIT, USA (Confirmed)
  • Yu Sun, University of South Florida, USA (Organizer, Confirmed)

    Tentative Title: A Dataset of Daily Interactive Manipulation

Program

Location: Room 2.L2

Poster area size: 1.87m x 0.95m

Schedule Details:

Time Talk Comments
8:55 – 9:00 Welcome and Introduction Yu Sun
University of South Florida
Competitions
9:00 – 9:15 Invited Talks Vincent Wall
TU Berlin
2015 APC winner
9:15 – 9:30 Invited Talks Carlos Hernandez Corbato
Delft University of Technology
2016 APC winner
9:30 – 9:45 Invited Talks Juxi Leitner
Queensland University of Technology, Australia
2017 APC winner
9:45 – 10:00 Invited Talks Albert Causo and I-Ming Chen
Nanyang Technological University, Singapore
2017 APC Picking Task Winner
10:00 - 10:15 Invited Talks Josie Hughes
University of Cambridge, UK
2017 Robotic Grasping and Manipulation Competition Winner
10:15 - 10:30 Invited Talks Nikolaus Correll
University of Colorado at Boulder, USA
2016, 2017 RoboSoft Grand Challenge manipulation competition Winner
10:30 - 10:45 Invited Talks Fuchun Sun
Tsinghua University, China
2016, 2017 RoboSoft Grand Challenge manipulation competition Winner
10:45 - 10:50 Announcement Yasuyoshi Yokokohji
WRS announcement
Kobe University, Japan
10:50 - 11:00 Discussion
11:00 - 11:30 Coffee Break
Datasets
12:00 - 12:15 Invited Talks Matteo Bianchi
UNIPI, Italy
12:15 - 12:30 Invited Talks Siddhartha Srinivasa
University of Washington, USA
12:30 - 12:45 Invited Talks Alberto Rodriguez
MIT, USA
12:45 - 13:00 Invited Talks Yu Sun
University of South Florida, USA
13:00 - 13:30 Discussion Competition and Datasets
13:30 - 14:30 Lunch Break
Benchmarks
14:30 - 14:45 Invited Talks Aaron Dollar
Yale University, USA
14:45 - 15:00 Invited Talks Yasemin Bekiroglu
Vicarious AI, USA
15:00 - 15:15 Invited Talks Juxi Leitner
Queensland University of Technology, Australia
15:15 - 15:35 Poster teasers NIST video

A High-Fidelity Dataset of Planar Pushing with RGBD Data and an Extensive Set of Pushed Objects
Maria Bauza, Alberto Rodriguez

Instrumented Door and Drawer for Comprehensive Robot–Object Kinematic and Force Data
Kristan Hilby, John Morrow, Yi Herng Ong, Ravi Balasubramanian, Cindy Grimm

An Experimental Validation of Contact-Implicit Trajectory Optimization for Pushing Manipulation
Aykut Ozgun Onol, Tarık Kelestemur, Philip Long, and Taskın Padır

Mating Process tolerance of plug-in cable connectors for wiring harness assembly tasks
Francisco Yumbla, June-Sup Yi, Meseret Abayebas, Hyungpil Moon

Benchmarking Prehensile Pick-and-Place Manipulation Among Impactful Clutter
Andrew Kimmel, Rahul Shome, Kostas Bekris

System-level evaluation of a Robotic System for a Pick-and-Place Task
Panagiotis Sotiropoulos, Pavlos Triantafylou, Hussein Mnyusiwalla, Maximo A. Roa, Duncan Russell, Graham Deacon

Towards an imitation learning benchmark
Raphael Memmesheimer, Ivanna Mykhalchyshyna, and Dietrich Paulus
15:40 - 16:30 Panel Discussion All speakers
16:30 - 17:00 Coffee Break
17:00 - 17:30 Poster Presentations

Organizer

Yu Sun, University of South Florida, USA, yusun@mail.usf.edu
Hyungpil Moon, SungKyunKwan University, South Korea, hyungpil@me.skku.ac.kr
Joe Falco, NIST, USA, falco@nist.gov
Berk Calli, Yale University, USA, berk.calli@yale.edu