Related papers: A Virtual Reality Framework for Human-Robot Collab…
Existing image-based virtual try-on methods directly transfer specific clothing to a human image without utilizing clothing attributes to refine the transferred clothing geometry and textures, which causes incomplete and blurred clothing…
Robotic fabric manipulation has applications in home robotics, textiles, senior care and surgery. Existing fabric manipulation techniques, however, are designed for specific tasks, making it difficult to generalize across different but…
This paper presents a robotic assembly framework that combines Vision-Language Models (VLMs) with imitation learning for assembly manipulation tasks. Our system employs a gripper-equipped robot that moves in 3D space to perform assembly…
As the population continues to age, a shortage of caregivers is expected in the future. Dressing assistance, in particular, is crucial for opportunities for social participation. Especially dressing close-fitting garments, such as socks,…
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…
For the task of hanging clothes, learning how to insert a hanger into a garment is a crucial step, but has rarely been explored in robotics. In this work, we address the problem of inserting a hanger into various unseen garments that are…
This paper presents a novel framework enabling end-users to perform the management of complex robotic workplaces using a tablet and augmented reality. The framework allows users to commission the workplace comprising different types of…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
Due to the deformability of garments, generating a large amount of high-quality data for robotic garment manipulation tasks is highly challenging. In this paper, we present a synthetic garment dataset that can be used for robotic garment…
Garment manipulation using robotic systems is a challenging task due to the diverse shapes and deformable nature of fabric. In this paper, we propose a novel method for robotic garment smoothing and alignment that significantly improves 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…
Given a single image of a general object such as a chair, could we also restore its articulated 3D shape similar to human modeling, so as to animate its plausible articulations and diverse motions? This is an interesting new question that…
In this work a system for recognizing grasp points in RGB-D images is proposed. This system is intended to be used by a domestic robot when deploying clothes lying at a random position on a table. By taking into consideration that the grasp…
Learning an effective outfit-level representation is critical for predicting the compatibility of items in an outfit, and retrieving complementary items for a partial outfit. We present a framework, OutfitTransformer, that uses the proposed…
Clothing virtual characters is a time-consuming and often manual process. Outfits can be composed of multiple garments, and each garment must be fitted to the unique shape of a character. Since characters can vary widely in size and shape,…
Clothes manipulation, such as folding or hanging, is a critical capability for home service robots. Despite recent advances, most existing methods remain limited to specific clothes types and tasks, due to the complex, high-dimensional…
Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work…
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…
This paper presents a novel robot vision architecture for perceiving generic 3D clothes configurations. Our architecture is hierarchically structured, starting from low-level curvatures, across mid-level geometric shapes \& topology…
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…