IEEE\RSJ International Conference on Intelligent Robots and Systems(IROS 2019)包括全体会议和主题演讲、技术会议、研讨会和教程、论坛、先驱演讲和展览,以丰富与会人员之间富有成果的讨论。它是机器人与智能系统领域的旗舰国际会议,由IEEE、IEEE机器人与自动化协会(RAS)、IEEE工业电子协会(IES)、日本机器人协会(RSJ)、仪器与控制工程师协会(SICE)和新技术基金会(NTF)共同赞助。IEEE是一个非盈利的技术专业协会,在160个国家拥有40多万会员。它是从计算机工程、生物医学技术和电信到电力、航空航天和消费电子等技术领域的领先权威。官网链接:


In this paper, we propose a cloud-based benchmark for robotic grasping and manipulation, called the OCRTOC benchmark. The benchmark focuses on the object rearrangement problem, specifically table organization tasks. We provide a set of identical real robot setups and facilitate remote experiments of standardized table organization scenarios in varying difficulties. In this workflow, users upload their solutions to our remote server and their code is executed on the real robot setups and scored automatically. After each execution, the OCRTOC team resets the experimental setup manually. We also provide a simulation environment that researchers can use to develop and test their solutions. With the OCRTOC benchmark, we aim to lower the barrier of conducting reproducible research on robotic grasping and manipulation and accelerate progress in this field. Executing standardized scenarios on identical real robot setups allows us to quantify algorithm performances and achieve fair comparisons. Using this benchmark we held a competition in the 2020 International Conference on Intelligence Robots and Systems (IROS 2020). In total, 59 teams took part in this competition worldwide. We present the results and our observations of the 2020 competition, and discuss our adjustments and improvements for the upcoming OCRTOC 2021 competition. The homepage of the OCRTOC competition is, and the OCRTOC software package is available at