Wallet Card Extraction & Insertion
Extract a card from a wallet or insert it into a pocket, using the same scene for both subtasks.
Robot in Simulation
Task Description
One arm picks up a folded bifold wallet by its spine and hands it to the other arm, which holds it by the bottom flap. The first arm opens the top flap fully, and the holding arm moves its grip to the spine to keep the wallet open. The first arm then picks up a card and slides it into a pocket. The leather spine springs back toward closed, so the wallet has to be held open while the card goes in.
Human Demonstrations
Grounding Focus
Thin edges, pocket compliance, and friction make small contact and trajectory differences important.
Evaluation Focus
Insertion and extraction success, double-picks, displacement of other cards, regrasp count, and completion time.
Evaluation protocols and results will be published as they become available.