为机器人抓取与操作流程制定模块化标准，提升开源工具兼容性。
Towards Developing Standards and Guidelines for Robot Grasping and Manipulation Pipelines in the COMPARE Ecosystem
- 构建开源组件库，分析各环节共性特征
- 调研现有流程，提炼模块化最佳实践
- 开发符合新标准的改进型模块化流程
COMPARE 生态系统旨在通过一系列活动提升机器人操作领域开源产品的兼容性与可评测性。其中一项关键工作是制定组件级与流程级的模块化标准与指南，涵盖感知、抓取规划、运动规划等单个模块及整体操作流程的集成方式。本文简要汇报当前进展：（1）建立开源产品仓库，识别流程中各组件的共同特征；（2）研究现有模块化流程，总结最佳实践；（3）开发符合新标准的新模块化流程，推动已有技术进步。
原文摘要 · Abstract (English)
The COMPARE Ecosystem aims to improve the compatibility and benchmarking of open-source products for robot manipulation through a series of activities. One such activity is the development of standards and guidelines to specify modularization practices at the component-level for individual modules (e.g., perception, grasp planning, motion planning) and integrations of components that form robot manipulation capabilities at the pipeline-level. This paper briefly reviews our work-in-progress to date to (1) build repositories of open-source products to identify common characteristics of each component in the pipeline, (2) investigate existing modular pipelines to glean best practices, and (3) develop new modular pipelines that advance prior work while abiding by the proposed standards and guidelines.
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