Competition Format and Rules:


The 2022 Robotic Grasping and Manipulation Competitions (RGMC) will have three tracks:
  • Open Cloud Robot Table Organization Challenge (OCRTOC) Track.
    The OCRTOC track is cloud-based using a benchmark developed for robotic grasping and manipulation. The benchmark focuses on the object rearrangement problem, specifically table organization tasks. We provide a set of identical real robot setups and facilitate remote experiments of standardized table organization scenarios in varying difficulties. Contestants upload their solutions to our remote server, their code is executed on the real robot setups, and scores are automatically computed. For more information on the rules and timeline, please CLICK HERE .

  • Service Track.
    This track has one task -- set a formal dinner table. It includes three steps: set down dinner plates, a bowl, a glass, and a cup; place silverware and napkins around the plates; fill the glass and cup. The setups, and competition rules are provided with detail >>HERE<<. Teams can compete either at the IROS site in Philadelphia or online.

  • Manufacturing Track.
    There will be two manufacturing sub-tasks in the competition, Assembly and Disassembly of a NIST Task Board (NTB) that contains threaded fasteners, pegs of various geometries, electrical connectors, wire connections and routing, and a flexible belt with a tensioner. A pre-competition design will be made available for selected teams to continue development of their systems leading up to the competition. A separate competition board with modified assembly positions (very similar to the pre-competition NTB), and new parts (identical to all parts used in practice), will be supplied prior to a team’s scheduled competition run. All details can be found HERE. Teams can compete either at the IROS site in Philadelphia or online.

    The service and manufacturing tracks at IROS 2022 will be Phase I of the competition. Teams will compete on a portion of the challenges. Teams with performances above a certain bar are qualified to compete in the final Phase II competition. The winners of OCRTOC are automatically qualified to compete in Phase II of the service Track.

    For more information on the previous RGMC competitions, please read this paper:
    Sun, Y., Falco, J., Roa, M. A., \& Calli, B., 2021. Research challenges and progress in robotic grasping and manipulation competitions. IEEE robotics and automation letters, 7(2), 874-881.

    More details about the OCRTOC benchmark can be found in the paper: Liu, Z., Liu, W., Qin, Y., Xiang, F., Gou, M., Xin, S., Roa, M.A., Calli, B., Su, H., Sun, Y. and Tan, P., 2021. OCRTOC: A cloud-based competition and benchmark for robotic grasping and manipulation. IEEE Robotics and Automation Letters, 7(1), pp.486-493.).

  • Tentative PRIZES

      Winners will receive a certificate.  

    Competition Registration

    Teams from academia and industry are equally welcome to participate. One person can only participate in one team. Each team cannot have more than 5 members (including the team leader). Each team will need to provide the following information to register:
  • OCRTOC Track -- It has a rolling registration.
  • Service Track -- A one-page description about your team. It should include the names of team members, their affiliations and contacts, who the team leader is, which track to participate, a brief description of the team's technology, robotic systems, and sensor systems, and the link to a demo video.
  • Manufacturing Track -- One to two-page description of the robotic assembly system that you will use to compete. Include descriptions of your autonomous assembly strategies and robotic assembly system; robot manipulators, end effector technology, sensors used for perception, control software and any plans for incorporating the use of supplied CAD data. Solutions that rely primarily on teaching (also called lead through programming) are not recommended. Images and Videos that help describe your system and operating principles are encouraged, but not required. Also include shipping information for sending NTBs in the case that your team is selected as follows:
    Postal Code:
    City or Town:
    E-mail Address:

    * It's very important that a person's name is included in the Attention field.
    Note: The organizers cannot guarantee the shipping times of the NTBs. Therefore, we have also included all sources and instructions for producing the practice boards on the manufacturing track web site.

    Each team must email the required registration information in PDF to yusun AT prior to the deadline.
  • * If you don't have a robotic system, you are encourage to attend the OCRTOC track.



    Schedule (tentative)

    • May 23, 2022
    • Dry run and demos

    • May 24, 2922
    • 10:00am-11:00am – OCRTOC Track. Winning teams will show demos and present their technologies.
    • 11:00am-11:30am – OCRTOC Track Discussion. Teams and organizers will have a live discussion and take questions from the audience.
    • 11:30am-12:30pm – Service Track. Teams will compete onsite. Teams competed online will show demos and present their technologies.
    • 12:30pm-3:00pm Break
    • 3:00pm-4:30pm Manufacturing Track. Teams who competed online will show demos and present their technologies
    • 5:00pm-6:00pm Future of Competition Open Discussion. Everyone interested in organizing or competing in future robotic grasping and manipulations is welcome to the discussion.

    Organizing Committee

    Calli, Berk (point of contact for service track)

    Worcester Polytechnic Institute (WPI)

    Joseph Falco (point of contact for manufacturing track)

    National Institute of Standards and Technology (NIST)

    Cindy Grimm

    Oregon State University

    Kenneth Kimble


    Ziyuan Liu (point of contact for OCRTOC track)


    Maximo Roa

    German Aerospace Center (DLR)

    Yu Sun (primary contact person)

    University of South Florida

    Ping Tan


    Yasuyoshi Yokokohji

    Kobe University
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