ContactBench 1.0: A Benchmark for Everyday Contact-Rich Robotic Manipulation
Contact-rich manipulation is essential to everyday activities, yet evaluating robots' ability to perform these activities remains challenging because of their diverse contact behaviors and the difficulty of reproducing tasks across laboratories.
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Key points
- Drawing on observations of everyday human manipulation, we identify eight recurring skill categories that provide a practical framework for studying these capabilities.
- We introduce ContactBench 1.0, an extensible benchmark that instantiates these skills through 36 reference tasks and more than 40 object assets.
- We evaluate recent vision-based and vision-tactile policy learning methods on six benchmark tasks.
- By providing shared tasks and physical and simulated assets, ContactBench 1.0 establishes a foundation for reproducible evaluation of contact-rich manipulation research.
Sources (1)
- [1]ContactBench 1.0: A Benchmark for Everyday Contact-Rich Robotic ManipulationarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 17, 07:12 AM
Contact-rich manipulation is essential to everyday activities, yet evaluating robots' ability to perform these activities remains challenging because of their diverse contact behaviors and the difficulty of reproducing tasks across laboratories.
Drawing on observations of everyday human manipulation, we identify eight recurring skill categories that provide a practical framework for studying these capabilities.
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