相关论文: Learning to Fold Real Garments with One Arm: A Cas…
Robotic cloth manipulation suffers from a lack of standardized benchmarks and shared datasets for evaluating and comparing different approaches. To address this, we created a benchmark and organized the ICRA 2024 Cloth Competition, a unique…
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…
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…
Manipulating garments and fabrics has long been a critical endeavor in the development of home-assistant robots. However, due to complex dynamics and topological structures, garment manipulations pose significant challenges. Recent…
Robotic manipulation of cloth remains challenging for robotics due to the complex dynamics of the cloth, lack of a low-dimensional state representation, and self-occlusions. In contrast to previous model-based approaches that learn a…
We investigate robotic assistants for dressing that can anticipate the motion of the person who is being helped. To this end, we use reinforcement learning to create models of human behavior during assistance with dressing. To explore this…
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…
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,…
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…
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…
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…
Deformable Object Manipulation (DOM) is an important field of research as it contributes to practical tasks such as automatic cloth handling, cable routing, surgical operation, etc. Perception is considered one of the major challenges in…
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…
Comparing robotic cloth-manipulation systems in a real-world setup is challenging. The fidelity gap between simulation-trained cloth neural controllers and real-world operation hinders the reliable deployment of these methods in physical…
Self-occlusion is challenging for cloth manipulation, as it makes it difficult to estimate the full state of the cloth. Ideally, a robot trying to unfold a crumpled or folded cloth should be able to reason about the cloth's occluded…
Cloth manipulation is a ubiquitous task in everyday life, but it remains an open challenge for robotics. The difficulties in developing cloth manipulation policies are attributed to the high-dimensional state space, complex dynamics, and…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
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…
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…
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…