{"id":"https://openalex.org/W3208045845","doi":"https://doi.org/10.1109/lra.2022.3158428","title":"Household Cloth Object Set: Fostering Benchmarking in Deformable Object Manipulation","display_name":"Household Cloth Object Set: Fostering Benchmarking in Deformable Object Manipulation","publication_year":2022,"publication_date":"2022-03-10","ids":{"openalex":"https://openalex.org/W3208045845","doi":"https://doi.org/10.1109/lra.2022.3158428","mag":"3208045845"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3158428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3158428","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2111.01527","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038631736","display_name":"Irene Garcia-Camacho","orcid":"https://orcid.org/0000-0002-1210-7345"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Irene Garcia-Camacho","raw_affiliation_strings":["Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial, CSIC-UPC, Barcelona, Spain"],"raw_orcid":"https://orcid.org/0000-0002-1210-7345","affiliations":[{"raw_affiliation_string":"Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial, CSIC-UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066456591","display_name":"J\u00falia Borr\u00e0s","orcid":"https://orcid.org/0000-0002-1662-2037"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Julia Borras","raw_affiliation_strings":["Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial, CSIC-UPC, Barcelona, Spain"],"raw_orcid":"https://orcid.org/0000-0002-1662-2037","affiliations":[{"raw_affiliation_string":"Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial, CSIC-UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008443652","display_name":"Berk \u00c7all\u0131","orcid":"https://orcid.org/0000-0003-0742-5231"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Berk Calli","raw_affiliation_strings":["Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0742-5231","affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034936627","display_name":"Adam Norton","orcid":"https://orcid.org/0000-0002-6127-4588"},"institutions":[{"id":"https://openalex.org/I133738476","display_name":"University of Massachusetts Lowell","ror":"https://ror.org/03hamhx47","country_code":"US","type":"education","lineage":["https://openalex.org/I133738476"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adam Norton","raw_affiliation_strings":["University of Massachusetts Lowell, Lowell, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6127-4588","affiliations":[{"raw_affiliation_string":"University of Massachusetts Lowell, Lowell, MA, USA","institution_ids":["https://openalex.org/I133738476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085564113","display_name":"Guillem Aleny\u00e0","orcid":"https://orcid.org/0000-0002-6018-154X"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Guillem Alenya","raw_affiliation_strings":["Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial, CSIC-UPC, Barcelona, Spain"],"raw_orcid":"https://orcid.org/0000-0002-6018-154X","affiliations":[{"raw_affiliation_string":"Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial, CSIC-UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1554,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.91528898,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"7","issue":"3","first_page":"5866","last_page":"5873"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9857000112533569,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.9265633225440979},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7935981750488281},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.7545413970947266},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6857637166976929},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.629015326499939},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.614946722984314},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4484633207321167},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44238924980163574},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41873404383659363},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33708569407463074},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11722743511199951},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09683620929718018}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.9265633225440979},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7935981750488281},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.7545413970947266},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6857637166976929},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.629015326499939},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.614946722984314},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4484633207321167},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44238924980163574},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41873404383659363},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33708569407463074},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11722743511199951},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09683620929718018},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2022.3158428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3158428","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2111.01527","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2111.01527","pdf_url":"https://arxiv.org/pdf/2111.01527","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:upcommons.upc.edu:2117/384037","is_oa":true,"landing_page_url":"http://www.iri.upc.edu/groups/perception/ClothObjectSet/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:digital.csic.es:10261/295906","is_oa":false,"landing_page_url":"http://hdl.handle.net/10261/295906","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"art\u00edculo"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2111.01527","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2111.01527","pdf_url":"https://arxiv.org/pdf/2111.01527","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7545383251","display_name":null,"funder_award_id":"BURG PCI2019-103447","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8596713838","display_name":null,"funder_award_id":"IIS-1900953","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W971672672","https://openalex.org/W1505952289","https://openalex.org/W1999323835","https://openalex.org/W2005756025","https://openalex.org/W2025937932","https://openalex.org/W2052461980","https://openalex.org/W2073751126","https://openalex.org/W2101076748","https://openalex.org/W2101204737","https://openalex.org/W2167654586","https://openalex.org/W2170940415","https://openalex.org/W2221752211","https://openalex.org/W2408230822","https://openalex.org/W2600030077","https://openalex.org/W2760798442","https://openalex.org/W2964137828","https://openalex.org/W2975051435","https://openalex.org/W2999786727","https://openalex.org/W3035198432","https://openalex.org/W3091607565","https://openalex.org/W3099587965","https://openalex.org/W3136969563","https://openalex.org/W3159812989","https://openalex.org/W3178001252","https://openalex.org/W4287657888","https://openalex.org/W6713827368","https://openalex.org/W6797896937","https://openalex.org/W7036470431"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699","https://openalex.org/W1993948687","https://openalex.org/W2000169967","https://openalex.org/W2112883198"],"abstract_inverted_index":{"Benchmarking":[0],"of":[1,6,30,71,92,119,150],"robotic":[2,11],"manipulations":[3],"is":[4,27,64],"one":[5],"the":[7,24,28,43,69,83,103,117,127,131,138,148,163],"open":[8],"issues":[9],"in":[10,20,23,122,137,168],"research.":[12],"An":[13],"important":[14],"factor":[15],"that":[16,34,56,99,140],"has":[17],"enabled":[18],"progress":[19],"this":[21],"area":[22],"last":[25],"decade":[26],"existence":[29],"common":[31,120],"object":[32,45,74,110,156],"sets":[33,46],"have":[35,57],"been":[36],"shared":[37,167],"among":[38,79],"different":[39],"research":[40,80],"groups.":[41],"However,":[42],"existing":[44],"are":[47,158],"very":[48],"limited":[49],"when":[50],"it":[51],"comes":[52],"to":[53,76,101,106,116,129,144],"cloth-like":[54,151],"objects":[55,95],"unique":[58],"particularities":[59],"and":[60,96,112,155,166],"challenges.":[61],"This":[62],"letter":[63],"a":[65,72,90,114,134],"first":[66],"step":[67],"towards":[68],"design":[70,118],"cloth":[73,85,94,123],"set":[75,91,111,130],"be":[77,142],"distributed":[78],"groups":[81],"from":[82],"robotics":[84],"manipulation":[86,124,149],"community.":[87],"We":[88],"present":[89],"household":[93],"related":[97,105],"tasks":[98],"serve":[100],"expose":[102],"challenges":[104],"gathering":[107],"such":[108],"an":[109],"propose":[113],"roadmap":[115],"benchmarks":[121],"tasks,":[125],"with":[126],"intention":[128],"grounds":[132],"for":[133,147,162],"future":[135],"debate":[136],"community":[139],"will":[141],"necessary":[143],"foster":[145],"benchmarking":[146],"objects.":[152],"Some":[153],"RGB-D":[154],"scans":[157],"collected":[159],"as":[160],"examples":[161],"relevant":[164],"configurations":[165],"<uri":[169],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">http://www.iri.upc.edu/groups/perception/ClothObjectSet/</uri>":[171],".":[172]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2021-11-08T00:00:00"}
