相关论文: PlaNet-ClothPick: Effective Fabric Flattening Base…

We present a novel goal-conditioned recurrent state space (GC-RSSM) model capable of learning latent dynamics of pick-and-place garment manipulation. Our proposed method LaGarNet matches the state-of-the-art performance of mesh-based…

Planning has been very successful for control tasks with known environment dynamics. To leverage planning in unknown environments, the agent needs to learn the dynamics from interactions with the world. However, learning dynamics models…

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…

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…

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…

In the present paper, we propose an extension of the Deep Planning Network (PlaNet), also referred to as PlaNet of the Bayesians (PlaNet-Bayes). There has been a growing demand in model predictive control (MPC) in partially observable…

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…

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…

Recently, the Deep Planning Network (PlaNet) approach was introduced as a model-based reinforcement learning method that learns environment dynamics directly from pixel observations. This architecture is useful for learning tasks in which…

Since loose-fitting clothing contains dynamic modes that have proven to be difficult to predict via neural networks, we first illustrate how to coarsely approximate these modes with a real-time numerical algorithm specifically designed to…

Planners using accurate models can be effective for accomplishing manipulation tasks in the real world, but are typically highly specialized and require significant fine-tuning to be reliable. Meanwhile, learning is useful for adaptation,…

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…

Modern deep-learning systems are specialized to problem settings in which training occurs once and then never again, as opposed to continual-learning settings in which training occurs continually. If deep-learning systems are applied in a…

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…

Constructing a diverse repertoire of manipulation skills in a scalable fashion remains an unsolved challenge in robotics. One way to address this challenge is with unstructured human play, where humans operate freely in an environment to…

We address the problem of goal-directed cloth manipulation, a challenging task due to the deformability of cloth. Our insight is that optical flow, a technique normally used for motion estimation in video, can also provide an effective…

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…

Model predictive control (MPC) is a powerful, optimization-based approach for controlling dynamical systems. However, the computational complexity of online optimization can be problematic on embedded devices. Especially, when we need to…

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…

One aim shared by multiple settings, such as continual learning or transfer learning, is to leverage previously acquired knowledge to converge faster on the current task. Usually this is done through fine-tuning, where an implicit…