相关论文: GarmentPile: Point-Level Visual Affordance Guided …
Garment manipulation has attracted increasing attention due to its critical role in home-assistant robotics. However, the majority of existing garment manipulation works assume an initial state consisting of only one garment, while piled…
Garment manipulation (e.g., unfolding, folding and hanging clothes) is essential for future robots to accomplish home-assistant tasks, while highly challenging due to the diversity of garment configurations, geometries and deformations.…
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…
Garments are important to humans. A visual system that can estimate and track the complete garment pose can be useful for many downstream tasks and real-world applications. In this work, we present a complete package to address the…
Automating garment manipulation is challenging due to extremely high variability in object configurations. To reduce this intrinsic variation, we introduce the task of "canonicalized-alignment" that simplifies downstream applications by…
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…
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…
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…
Understanding and manipulating deformable objects (e.g., ropes and fabrics) is an essential yet challenging task with broad applications. Difficulties come from complex states and dynamics, diverse configurations and high-dimensional action…
In the rapidly evolving field of online fashion shopping, the need for more personalized and interactive image retrieval systems has become paramount. Existing methods often struggle with precisely manipulating specific garment attributes…
Designing real and virtual garments is becoming extremely demanding with rapidly changing fashion trends and increasing need for synthesizing realistic dressed digital humans for various applications. This necessitates creating simple and…
Visual actionable affordance has emerged as a transformative approach in robotics, focusing on perceiving interaction areas prior to manipulation. Traditional methods rely on pixel sampling to identify successful interaction samples or…
Creating animatable avatars from static scans requires the modeling of clothing deformations in different poses. Existing learning-based methods typically add pose-dependent deformations upon a minimally-clothed mesh template or a learned…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Cloth in the real world is often crumpled, self-occluded, or folded in on itself such that key regions, such as corners, are not directly graspable, making manipulation difficult. We propose a system that leverages visual and tactile…
Practical garment design spans two modes: intuitive creation from high-level intent, such as a reference image or text description, and complex low-level editing across 2D sewing patterns and 3D draped geometry, which requires professional…
Learning to reconstruct 3D garments is important for dressing 3D human bodies of different shapes in different poses. Previous works typically rely on 2D images as input, which however suffer from the scale and pose ambiguities. To…
We present a novel solution to the garment animation problem through deep learning. Our contribution allows animating any template outfit with arbitrary topology and geometric complexity. Recent works develop models for garment edition,…
Well-fitted clothing is essential for both real and virtual garments to enable self-expression and accurate representation for a large variety of body types. Common practice in the industry is to provide a pre-made selection of distinct…
Robotic deformable-object manipulation is a challenge in the robotic industry because deformable objects have complicated and various object states. Predicting those object states and updating manipulation planning is time-consuming and…