Related papers: Encoding cloth manipulations using a graph of stat…
Cloth folding is a widespread domestic task that is seemingly performed by humans but which is highly challenging for autonomous robots to execute due to the highly deformable nature of textiles; It is hard to engineer and learn…
Understanding of deformable object manipulations such as textiles is a challenge due to the complexity and high dimensionality of the problem. Particularly, the lack of a generic representation of semantic states (e.g., \textit{crumpled},…
There is growing interest in automating agricultural tasks that require intricate and precise interaction with specialty crops, such as trees and vines. However, developing robotic solutions for crop manipulation remains a difficult…
Robotic manipulation of cloth is a highly complex task because of its infinite-dimensional shape-state space that makes cloth state estimation very difficult. In this paper we introduce the dGLI Cloth Coordinates, a low-dimensional…
Compliant and soft hands have gained a lot of attention in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping highly flexible…
Physical manipulation of garments is often crucial when performing fabric-related tasks, such as hanging garments. However, due to the deformable nature of fabrics, these operations remain a significant challenge for robots in household,…
Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…
Robotic manipulation of cloth has applications ranging from fabrics manufacturing to handling blankets and laundry. Cloth manipulation is challenging for robots largely due to their high degrees of freedom, complex dynamics, and severe…
In this paper we present a Deep Reinforcement Learning approach to solve dynamic cloth manipulation tasks. Differing from the case of rigid objects, we stress that the followed trajectory (including speed and acceleration) has a decisive…
Multi-step cloth manipulation is a challenging problem for robots due to the high-dimensional state spaces and the dynamics of cloth. Despite recent significant advances in end-to-end imitation learning for multi-step cloth manipulation…
Cloth detection and manipulation is a common task in domestic and industrial settings, yet such tasks remain a challenge for robots due to cloth deformability. Furthermore, in many cloth-related tasks like laundry folding and bed making, it…
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design for demonstrating cloth folding to robots. Users choose pick…
The field of robotics faces inherent challenges in manipulating deformable objects, particularly in understanding and standardising fabric properties like elasticity, stiffness, and friction. While the significance of these properties is…
The realm of textiles spans clothing, households, healthcare, sports, and industrial applications. The deformable nature of these objects poses unique challenges that prior work on rigid objects cannot fully address. The increasing interest…
Robotic manipulation of highly deformable cloth presents a promising opportunity to assist people with several daily tasks, such as washing dishes; folding laundry; or dressing, bathing, and hygiene assistance for individuals with severe…
Robotic cloth manipulation faces challenges due to the fabric's complex dynamics and the high dimensionality of configuration spaces. Previous methods have largely focused on isolated smoothing or folding tasks and overly reliant on…
The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…
This paper introduces a taxonomy of manipulations as seen especially in cooking for 1) grouping manipulations from the robotics point of view, 2) consolidating aliases and removing ambiguity for motion types, and 3) provide a path to…
When performing cloth-related tasks, such as garment hanging, it is often important to identify and grasp certain structural regions -- a shirt's collar as opposed to its sleeve, for instance. However, due to cloth deformability, these…
In this paper, we investigate the feasibility of using knowledge graphs to interpret actions and behaviors for robot manipulation control. Equipped with an uncalibrated visual servoing controller, we propose to use robot knowledge graphs to…