mlsanityData to 7 Oct 2026

World Robot Challenge 2020 -- Partner Robot: A Data-Driven Approach for Room Tidying with Mobile Manipulator

arXiv 2207.10106 ↗First posted 20 Jul 2022cs.RO cs.AI cs.CVcited by 5

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Abstract (arXiv)

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 the 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.

Key facts. Cited by 5 papers in the map (data through 7 Oct 2026). Builds on 23 of its 48 references that are in the map. First posted on arXiv 20 Jul 2022.

Builds on

23 of 48 references.

References · 23

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11 more
  1. 20196-DOF GraspNet: Variational Grasp Generation for Object Manipulationcited by 237
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Built on by

Cited by year

Citing papers per year: 2023: 2; 2024: 1; 2025: 2.

5 papers.

  1. 2024Real-World Robot Applications of Foundation Models: A Reviewcited by 60
  2. 2023Robotic Applications of Pre-Trained Vision-Language Models to Various Recognition Behaviorscited by 12
  3. 2023Self-Recovery Prompting: Promptable General Purpose Service Robot System with Foundation Models and Self-Recoverycited by 6
  4. 2025AIRoA MoMa Dataset: A Large-Scale Hierarchical Dataset for Mobile Manipulationcited by 5
  5. 2025Break Out the Silverware -- Semantic Understanding of Stored Household Itemscited by 0