Mug Reorientation
Reorient mugs from sideways or inverted poses so they remain upright after release.
Robot in Simulation
Task Description
The mugs start on their sides on a tray. One arm picks up a mug and passes it to the other arm in mid-air. The second arm turns the mug upright and sets it down on the table, where it has to stay standing. The robot repeats this for each mug.
Human Demonstration
Grounding Focus
Changing contact points and handle orientation test contact dynamics, regrasping, and recovery from partial flips.
Evaluation Focus
Upright success, final tilt, regrasp count, drops, and completion time.
Evaluation protocols and results will be published as they become available.
Includes a task from ABC.