构建模块化机器人抓取与操作流水线，统一性能评测标准。
Developing Modular Grasping and Manipulation Pipeline Infrastructure to Streamline Performance Benchmarking
- 设计可插拔的模块化流水线架构，支持组件自由组合。
- 通过实验验证流水线在不同任务中的可复现性与扩展性。
- 适合机器人研究者用于标准化对比不同抓取算法效果。
当前机器人操作生态面临开源组件集成困难与结果难以复现的问题，导致性能评估依赖主观整体判断而非客观指标。作为COMPARE生态系统项目的一部分，本文开发了一套模块化的抓取与操作流水线基础设施，旨在简化性能基准测试流程。该基础设施将推动建立模块化标准与改进开源开发及评测规范。本文概述了流水线的高层架构设计，展示了开发阶段开展的验证实验，并展望未来在增强模块化方面的拓展工作。
原文摘要 · Abstract (English)
The robot manipulation ecosystem currently faces issues with integrating open-source components and reproducing results. This limits the ability of the community to benchmark and compare the performance of different solutions to one another in an effective manner, instead relying on largely holistic evaluations. As part of the COMPARE Ecosystem project, we are developing modular grasping and manipulation pipeline infrastructure in order to streamline performance benchmarking. The infrastructure will be used towards the establishment of standards and guidelines for modularity and improved open-source development and benchmarking. This paper provides a high-level overview of the architecture of the pipeline infrastructure, experiments conducted to exercise it during development, and future work to expand its modularity.
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