Household Cloth Object Set: Fostering Benchmarking in Deformable Object Manipulation

Benchmarking of robotic manipulations is one the open issues in research. An important factor that has enabled progress this area last decade existence common object sets have been shared among different research groups. However, existing are very limited when it comes to cloth-like objects unique particularities and challenges. This letter a first step towards design cloth set be distributed groups from robotics manipulation community. We present household related tasks serve expose challenges gathering such an propose roadmap benchmarks tasks, with intention grounds for future debate community will necessary foster benchmarking objects. Some RGB-D scans collected as examples relevant configurations http://www.iri.upc.edu/groups/perception/ClothObjectSet/ .