Attention

This challenge has ended!

This documentation is only for the Real Robot Challenge 2020 which has ended. Following challenges have their own documentation, see the challenge website for more information.

Phase 3: Moving a long cuboid

../_images/robot_phase_3.jpeg

Phase 3 works in the same way as phase 2 with only the following differences:

Different Object

Instead of the cube, a small cuboid is used now.

  • Size: 2x8x2 cm

  • Weight: 16 g

../_images/cuboid_2x2x8.jpg

New Singularity Image

The Singularity image has been updated according to changes in phase 3.

The new image can be downloaded here: Download the Real Robot Challenge Image.

Note

Don’t forget to update your custom images accordingly (i.e. rebuild them with the new image as base).

Object Tracking

Due to the smaller size, the tracking of the cuboid is more difficult than with the bigger cube. Therefore there will likely be more noise on the estimated object pose.

We also improved the confidence computation a bit which results in values that are overall a bit lower than they were in phase 2.

Filtered Pose

The filtered_object_pose in ObjectPose is now computed as follows:

  • If confidence > 0.75, filtered_object_pose = object_pose.

  • Otherwise it is set to the last observed pose with confidence > 0.75. Each time a pose is repeated like this, its confidence is reduced a bit.

Reward Functions and Evaluation

With the long cuboid, it is difficult to detect the rotation around the long axis (y-axis in the object frame) reliably. Therefore the reward function for difficulty level 4 is changed a bit to compensate for that. Instead of using the full 3d-rotation, only the angle between the y-axes of the goal and actual orientation is used. This means that the rotation around the long side is not considered for the reward.

Further we changed the evaluation a bit to use median instead of mean for averaging the different runs of the same difficulty level. This should lead to similar results in most cases but single but large outliers will have less influence on the resulting score.

Apart from this, no changes were made compared to phase 2. For details see