真实服装基准（RGBench）：面向机器人服装操作的综合基准，包含高保真可扩展模拟器
Real Garment Benchmark (RGBench): A Comprehensive Benchmark for Robotic Garment Manipulation featuring a High-Fidelity Scalable Simulator
AI总结：
针对机器人服装操作缺乏合适模拟工具的问题，提出包含6000+服装网格模型、高性能模拟器及评估协议的RGBench基准，其模拟器较现有工具误差降20%且速度快3倍，将公开以推动该领域研究。
摘要：
尽管在使用模拟数据学习刚性物体机器人操作方面已取得重大进展，但由于缺乏可变形物体模型和真实非刚性体模拟器，其成功应用于可变形物体受到阻碍。本文提出真实服装基准（RGBench），这是一个面向机器人服装操作的综合基准。它包含6000多个服装网格模型的多样化集合、一个新的高性能模拟器，以及通过仔细测量真实服装动力学来评估服装模拟质量的综合协议。我们的实验表明，我们的模拟器大幅优于现有布料模拟器，将模拟误差降低20%，同时保持3倍的速度提升。我们将公开发布RGBench以加速机器人服装操作的未来研究。网站：https://rgbench.github.io/
英文摘要：
While there has been significant progress to use simulated data to learn robotic manipulation of rigid objects, applying its success to deformable objects has been hindered by the lack of both deformable object models and realistic non-rigid body simulators. In this paper, we present Real Garment Benchmark (RGBench), a comprehensive benchmark for robotic manipulation of garments. It features a diverse set of over 6000 garment mesh models, a new high-performance simulator, and a comprehensive protocol to evaluate garment simulation quality with carefully measured real garment dynamics. Our experiments demonstrate that our simulator outperforms currently available cloth simulators by a large margin, reducing simulation error by 20% while maintaining a speed of 3 times faster. We will publicly release RGBench to accelerate future research in robotic garment manipulation. Website: https://rgbench.github.io/
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
