World robot challenge 2020 – partner robot: a data-driven approach for room tidying with mobile manipulator

概要

Tidying up a household environment using a mobile manipulator poses various challenges in robotics, such as adaptation to large real-world environmental variations, and safe and robust deployment in the presence of humans. The Partner Robot Challenge in World Robot Challenge (WRC) 2020, a global competition held in September 2021, benchmarked tidying tasks in real home environments, and, importantly, tested for full system performances. For this challenge, we developed an entire household service robot system, which leverages a data-driven approach to adapt to numerous edge cases that occur during the execution, instead of classical manual pre-programmed solutions. In this paper, we describe the core ingredients of the proposed robot system, including visual recognition, object manipulation, and motion planning. Our robot system won the second prize, verifying the effectiveness and potential of data-driven robot systems for mobile manipulation in home environments.

松嶋 達也

特任研究員

人間と共生できるような適応的なロボットの開発と，そのようなロボットを作ることにより生命性や知能を構成的に理解することに興味があります．

野口 裕貴

有馬 純平

I am an engineer working for a motor company in Japan.

青木 俊樹

修士課程

My research interests include distributed robotics, mobile computing and programmable matter.

沖田 祐樹

数理最適化及び機械学習に興味があります。理論を主に研究していますが、ロボットとの融合等の社会応用についても勉強しています。

池田 悠也

修士課程

工学部システム創成学科知能社会システムコース4年

石本 幸暉

My research interests include robotics and rotot intelligence.

谷口 尚平

博士課程

瀬戸 翔一

学部生

My research interests include utilization of Artificial Intteligence in the aerospace field

顧 世翔

客員准教授

岩澤 有祐

准教授

松尾 豊

教授