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We present a general framework for the garment animation problem through unsupervised deep learning inspired in physically based simulation. Existing trends in the literature already explore this possibility. Nonetheless, these approaches…
Accurate manipulation of a deformable body such as a piece of fabric is difficult because of its many degrees of freedom and unobservable properties affecting its dynamics. To alleviate these challenges, we propose the application of…
Manipulating clothes is challenging due to their complex dynamics, high deformability, and frequent self-occlusions. Garments exhibit a nearly infinite number of configurations, making explicit state representations difficult to define. In…
We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…
Cloth manipulation is challenging due to its highly complex dynamics, near-infinite degrees of freedom, and frequent self-occlusions, which complicate both state estimation and dynamics modeling. Inspired by recent advances in generative…
The accurate representation of fine-detailed cloth wrinkles poses significant challenges in computer graphics. The inherently non-uniform structure of cloth wrinkles mandates the employment of intricate discretization strategies, which are…
Garment folding is a common yet challenging task in robotic manipulation. The deformability of garments leads to a vast state space and complex dynamics, which complicates precise and fine-grained manipulation. Previous approaches often…
Fabric manipulation dynamically is commonly seen in manufacturing and domestic settings. While dynamically manipulating a fabric piece to reach a target state is highly efficient, this task presents considerable challenges due to the…
We present a novel mesh-based learning approach (N-Cloth) for plausible 3D cloth deformation prediction. Our approach is general and can handle cloth or obstacles represented by triangle meshes with arbitrary topologies. We use graph…
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,…
Robotic caregivers could potentially improve the quality of life of many who require physical assistance. However, in order to assist individuals who are lying in bed, robots must be capable of dealing with a significant obstacle: the…
Clothes manipulation is a critical capability for household robots; yet, existing methods are often confined to specific tasks, such as folding or flattening, due to the complex high-dimensional geometry of deformable fabric. This paper…
Robotic cloth manipulation is a relevant challenging problem for autonomous robotic systems. Highly deformable objects as textile items can adopt multiple configurations and shapes during their manipulation. Hence, robots should not only…
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…
We introduce a new isometric strain model for the study of the dynamics of cloth garments in a moderate stress environment, such as robotic manipulation in the neighborhood of humans. This model treats textiles as surfaces which are…
We present AdaFold, a model-based feedback-loop framework for optimizing folding trajectories. AdaFold extracts a particle-based representation of cloth from RGB-D images and feeds back the representation to a model predictive control to…
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…
Sewing garments using robots has consistently posed a research challenge due to the inherent complexities in fabric manipulation. In this paper, we introduce an intelligent robotic automation system designed to address this issue. By…
Many fabric handling and 2D deformable material tasks in homes and industry require singulating layers of material such as opening a bag or arranging garments for sewing. In contrast to methods requiring specialized sensing or end…
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…