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Tidying up a household environment using a mobile manipulator poses variouschallenges in robotics, such as adaptation to large real-world environmentalvariations, and safe and robust deployment in the presence of humans.ThePartner Robot Challenge in World Robot Challenge (WRC) 2020, a globalcompetition held in September 2021, benchmarked tidying tasks in the real homeenvironments, and importantly, tested for full system performances.For thischallenge, we developed an entire household service robot system, whichleverages a data-driven approach to adapt to numerous edge cases that occurduring the execution, instead of classical manual pre-programmed solutions. Inthis paper, we describe the core ingredients of the proposed robot system,including visual recognition, object manipulation, and motion planning. Ourrobot system won the second prize, verifying the effectiveness and potential ofdata-driven robot systems for mobile manipulation in home environments.

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