Tabletop Object Rearrangement: Team ACRV's Entry to OCRTOC
Zheyu Zhang, Rhys Newbury, Kerry He, Steven Martin, Gavin Suddrey, Jun, Kwan, Peter Corke, Akansel Cosgun
TL;DR
This paper presents Team ACRV's entry to OCRTOC2020, a competition focused on robotic tabletop object rearrangement using vision, highlighting the challenges faced during the event.
Contribution
The paper introduces a robotic manipulation approach tailored for OCRTOC2020 and discusses the key challenges encountered in a comprehensive cloud-based competition.
Findings
Identified key challenges in tabletop object rearrangement.
Developed strategies for vision-based robotic manipulation.
Gained insights into cloud robotics competition dynamics.
Abstract
Open Cloud Robot Table Organization Challenge (OCRTOC) is one of the most comprehensive cloud-based robotic manipulation competitions. It focuses on rearranging tabletop objects using vision as its primary sensing modality. In this extended abstract, we present our entry to the OCRTOC2020 and the key challenges the team has experienced.
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Taxonomy
TopicsRobot Manipulation and Learning · Robotics and Sensor-Based Localization · Robotics and Automated Systems