Related papers: An Inextensible Model for Robotic Simulations of T…
Materials used in real clothing exhibit remarkable complexity and spatial variation due to common processes such as stitching, hemming, dyeing, printing, padding, and bonding. Simulating these materials, for instance using finite element…
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…
Kinesthetic garments provide physical feedback on body posture and motion through tailored distributions of reinforced material. Their ability to selectively stiffen a garment's response to specific motions makes them appealing for…
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,…
For many of the physical phenomena around us, we have developed sophisticated models explaining their behavior. Nevertheless, measuring physical properties from visual observations is challenging due to the high number of causally…
Cloth manipulation is common in domestic and service tasks, and most studies use fixed-base manipulators to manipulate objects whose sizes are relatively small with respect to the manipulators' workspace, such as towels, shirts, and rags.…
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…
We consider the problem of open-goal planning for robotic cloth manipulation. Core of our system is a neural network trained as a forward model of cloth behaviour under manipulation, with planning performed through backpropagation. We…
Virtual garment simulation has become increasingly important with applications in garment design and virtual try-on. However, reproducing garments faithfully remains a cumbersome process. We propose an end-to-end method for estimating…
While there has been significant progress to use simulated data to learn robotic manipulation of rigid objects, applying its success to deformable objects has been hindered by the lack of both deformable object models and realistic…
The capability to generate simulation-ready garment models from 3D shapes of clothed humans will significantly enhance the interpretability of captured geometry of real garments, as well as their faithful reproduction in the virtual world.…
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…
This paper pushes the performance of cloth simulation, making the simulation interactive even for high-resolution garment models while keeping every triangle untangled. The penetration-free guarantee is inspired by the interior point…
Robotic-assisted dressing has the potential to significantly aid both patients as well as healthcare personnel, reducing the workload and improving the efficiency in clinical settings. While substantial progress has been made in robotic…
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…
Recent advances in garment simulation have brought high-quality results closer to real-time performance. Physics-based simulators can produce accurate motion, but remain too computationally expensive for interactive applications. In…
Realistic dynamic garments on animated characters have many AR/VR applications. While authoring such dynamic garment geometry is still a challenging task, data-driven simulation provides an attractive alternative, especially if it can be…
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human…
Persistent wrinkles are often observed on crumpled garments e.g., the wrinkles around the knees after sitting for a while. Such wrinkles can be easily recovered if not deformed for long, and otherwise be persistent. Since they are vital to…
Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation…