使用魔方对机器人操作进行基准测试
Benchmarking Robot Manipulation with the Rubik's Cube
摘要：
机器人操作的基准对于衡量该领域的进展至关重要，但很少有基准能够证明关键的操作技能，拥有标准化的指标，并且可以通过各种机器人平台进行尝试。为了解决缺乏这样的基准测试，我们提出了魔方操作作为一个基准来衡量精确操作和顺序操作的同时表现。魔方的子结构要求精确定位机器人的末端执行器，而其高度可重构的性质，使任务，需要机器人管理整个长序列的动作姿势的不确定性。我们提出了一个协议，用于定量测量魔方操作的准确性和速度。该协议可以由任何通用操纵器尝试，并且仅需要标准的3x3魔方和魔方最初搁置在其上的平坦表面（例如桌子）。我们证明了这个协议的两个不同的基线方法的PR2机器人。第一个基线为基于姿势的魔方操作提供了基本方法。第二个基准演示了该基准对系统性能改进进行量化的能力，特别是由于集成了触摸前传感。为了证明基准的适用性，其他机器人平台和算法的方法，我们提出了所需的功能块，使HERB机器人操纵魔方通过推抓。
英文摘要：
Benchmarks for robot manipulation are crucial to measuring progress in the field, yet there are few benchmarks that demonstrate critical manipulation skills, possess standardized metrics, and can be attempted by a wide array of robot platforms. To address a lack of such benchmarks, we propose Rubik's cube manipulation as a benchmark to measure simultaneous performance of precise manipulation and sequential manipulation. The sub-structure of the Rubik's cube demands precise positioning of the robot's end effectors, while its highly reconfigurable nature enables tasks that require the robot to manage pose uncertainty throughout long sequences of actions. We present a protocol for quantitatively measuring both the accuracy and speed of Rubik's cube manipulation. This protocol can be attempted by any general-purpose manipulator, and only requires a standard 3x3 Rubik's cube and a flat surface upon which the Rubik's cube initially rests (e.g. a table). We demonstrate this protocol for two distinct baseline approaches on a PR2 robot. The first baseline provides a fundamental approach for pose-based Rubik's cube manipulation. The second baseline demonstrates the benchmark's ability to quantify improved performance by the system, particularly that resulting from the integration of pre-touch sensing. To demonstrate the benchmark's applicability to other robot platforms and algorithmic approaches, we present the functional blocks required to enable the HERB robot to manipulate the Rubik's cube via push-grasping.
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