@article{01KGSAGXT8WFJZJQZVE64P5DZB,
  abstract     = {{Robotic cloth manipulation suffers from a lack of standardized benchmarks and shared datasets for evaluating and comparing different approaches. To address this, we created a benchmark and organized the ICRA 2024 Cloth Competition, a unique head-to-head evaluation focused on grasp pose selection for in-air robotic cloth unfolding. Eleven teams participated in the competition, utilizing the publicly released dataset of 500 real-world robotic grasp attempts for cloth unfolding and employing diverse approaches to generate in-air unfolding grasps. Analysis of the competition results revealed insights about the trade-off between grasp success and coverage, the surprisingly strong achievements of hand-engineered methods and a significant discrepancy between competition performance and prior work, underscoring the importance of independent, out-of-the-lab evaluation in robotic cloth manipulation. We also expanded the dataset with 176 competition evaluation trials, resulting in a dataset of 679 unfolding demonstrations across 34 garments. This dataset is a valuable resource for developing and evaluating grasp selection methods, particularly for learning-based approaches. We hope that the benchmark, dataset, and competition results can serve as a foundation for future benchmarks and drive further progress in data-driven robotic cloth manipulation.}},
  author       = {{De Gusseme, Victor-Louis and Lips, Thomas and Proesmans, Remko and Hietala, Julius and Lee, Giwan and Choi, Jiyoung and Choi, Jeongil and Kim, Geon and Yonrith, Phayuth and Tabernik, Domen and Gams, Andrej and Nimac, Peter and Urbas, Matej and Muhovic, Jon and Skocaj, Danijel and Mavsar, Matija and Yu, Hyojeong and Kwon, Minseo and Kim, Young J. and Cong, Yang and Chen, Ronghan and Ren, Yu and Diao, Supeng and Weng, Jiawei and Liu, Jiayue and Sun, Haoran and Yang, Linhan and Zhang, Zeqing and Guo, Ning and Yang, Lei and Wan, Fang and Song, Chaoyang and Pan, Jia and Jin, Yixiang and A, Yong and Shi, Jun and Li, Dingzhe and Yang, Yong and Yamasaki, Kakeru and Kajiwara, Takumi and Nakadera, Yuki and Saxena, Krati and Shibata, Tomohiro and Xia, Chongkun and Mo, Kai and Yu, Yanzhao and Lin, Qihao and Ma, Binqiang and Sagong, Uihun and Choi, Jung Hyun and Park, Jeong Hyun and Lee, Dongwoo and Kim, Yeongmin and Hwang, Myun Joong and Kuribayashi, Yusuke and Hiratsuka, Naoki and Tanaka, Daisuke and Arnold, Solvi and Yamazaki, Kimitoshi and Mateo-Agullo, Carlos and Verleysen, Andreas and wyffels, Francis}},
  issn         = {{0278-3649}},
  journal      = {{INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH}},
  keywords     = {{CLASSIFICATION,MANIPULATION,RECOGNITION,PARTS,benchmarking,datasets,cloth manipulation,unfolding,robotics competition}},
  language     = {{eng}},
  pages        = {{19}},
  title        = {{A dataset and benchmark for robotic cloth unfolding grasp selection : the ICRA 2024 Cloth Competition}},
  url          = {{http://doi.org/10.1177/02783649251414885}},
  year         = {{2026}},
}

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