Related papers: Demonstrating Cloth Folding to Robots: Design and …
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…
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…
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-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…
Robot-assisted dressing has the potential to significantly improve the lives of individuals with mobility impairments. To ensure an effective and comfortable dressing experience, the robot must be able to handle challenging deformable…
Assistive robots should be able to wash, fold or iron clothes. However, due to the variety, deformability and self-occlusions of clothes, creating robot systems for cloth manipulation is challenging. Synthetic data is a promising direction…
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…
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
Folding garments reliably and efficiently is a long standing challenge in robotic manipulation due to the complex dynamics and high dimensional configuration space of garments. An intuitive approach is to initially manipulate the garment to…
Learning to manipulate cloth is both a paradigmatic problem for robotic research and a problem of immediate relevance to a variety of applications ranging from assistive care to the service industry. The complex physics of the deformable…
High-velocity dynamic actions (e.g., fling or throw) play a crucial role in our everyday interaction with deformable objects by improving our efficiency and effectively expanding our physical reach range. Yet, most prior works have tackled…
Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers typically lack of such communication skills. This study investigates…
Sequential multi-step cloth manipulation is a challenging problem in robotic manipulation, requiring a robot to perceive the cloth state and plan a sequence of chained actions leading to the desired state. Most previous works address this…
Robotic manipulation of cloth is a challenging task due to the high dimensionality of the configuration space and the complexity of dynamics affected by various material properties. The effect of complex dynamics is even more pronounced in…
Cloth folding is a complex task due to the inevitable self-occlusions of clothes, their complicated dynamics, and the disparate materials, geometries, and textures that garments can have. In this work, we learn folding actions conditioned…
Designing real and virtual garments is becoming extremely demanding with rapidly changing fashion trends and increasing need for synthesizing realistic dressed digital humans for various applications. This necessitates creating simple and…
We present a comparison review that evaluates popular techniques for garment draping for 3D fashion design, virtual try-ons, and animations. A comparative study is performed between various methods for garment draping of clothing over the…
We present Flat'n'Fold, a novel large-scale dataset for garment manipulation that addresses critical gaps in existing datasets. Comprising 1,212 human and 887 robot demonstrations of flattening and folding 44 unique garments across 8…
We present a virtual reality (VR) framework to automate the data collection process in cloth folding tasks. The framework uses skeleton representations to help the user define the folding plans for different classes of garments, allowing…
Fabric manipulation is a long-standing challenge in robotics due to the enormous state space and complex dynamics. Learning approaches stand out as promising for this domain as they allow us to learn behaviours directly from data. Most…