相关论文: UniGarmentManip: A Unified Framework for Category-…
Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation…
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…
Manipulating clothing is challenging due to complex configurations, variable material dynamics, and frequent self-occlusion. Prior systems often flatten garments or assume visibility of key features. We present a dual-arm visuotactile…
Garment representation, editing and animation are challenging topics in the area of computer vision and graphics. It remains difficult for existing garment representations to achieve smooth and plausible transitions between different shapes…
Cluttered garments manipulation poses significant challenges due to the complex, deformable nature of garments and intricate garment relations. Unlike single-garment manipulation, cluttered scenarios require managing complex garment…
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…
We investigate the problem of pixelwise correspondence for deformable objects, namely cloth and rope, by comparing both classical and learning-based methods. We choose cloth and rope because they are traditionally some of the most difficult…
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…
Garment manipulation is a critical challenge due to the diversity in garment categories, geometries, and deformations. Despite this, humans can effortlessly handle garments, thanks to the dexterity of our hands. However, existing research…
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…
The complex physical properties of highly deformable materials such as clothes pose significant challenges fanipulation systems. We present a novel visual feedback dictionary-based method for manipulating defoor autonomous robotic mrmable…
Simulating physically realistic garment deformations is an essential task for virtual immersive experience, which is often achieved by physics simulation methods. However, these methods are typically time-consuming, computationally…
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,…
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…
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…
We address the problem of aligning real-world 3D data of garments, which benefits many applications such as texture learning, physical parameter estimation, generative modeling of garments, etc. Existing extrinsic methods typically perform…
This paper explores the development of UniFolding, a sample-efficient, scalable, and generalizable robotic system for unfolding and folding various garments. UniFolding employs the proposed UFONet neural network to integrate unfolding and…
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…
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…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…