相关论文: CLASP: General-Purpose Clothes Manipulation with S…
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…
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…
The ability to plan for multi-step manipulation tasks in unseen situations is crucial for future home robots. But collecting sufficient experience data for end-to-end learning is often infeasible in the real world, as deploying robots in…
Autonomous fabric manipulation is a challenging task due to complex dynamics and potential self-occlusion during fabric handling. An intuitive method of fabric folding manipulation first involves obtaining a smooth and unfolded fabric…
We present ClothesNet: a large-scale dataset of 3D clothes objects with information-rich annotations. Our dataset consists of around 4400 models covering 11 categories annotated with clothes features, boundary lines, and keypoints.…
Image-based virtual try-on aims to fit an in-shop garment onto a clothed person image. Garment warping, which aligns the target garment with the corresponding body parts in the person image, is a crucial step in achieving this goal.…
In this paper, we explore generalizable, perception-to-action robotic manipulation for precise, contact-rich tasks. In particular, we contribute a framework for closed-loop robotic manipulation that automatically handles a category of…
Fabric manipulation has applications in folding blankets, handling patient clothing, and protecting items with covers. It is challenging for robots to perform fabric manipulation since fabrics have infinite-dimensional configuration spaces,…
Effective human-robot collaboration depends on task-oriented handovers, where robots present objects in ways that support the partners intended use. However, many existing approaches neglect the humans post-handover action, relying on…
Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…
Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods maintain low-level feasibility. Task and motion planning…
This article introduces the Clarke transform and Clarke coordinates, which present a solution to the disengagement of an arbitrary number of coupled displacement actuation of continuum and soft robots. The Clarke transform utilizes the…
Decision-making is challenging in robotics environments with continuous object-centric states, continuous actions, long horizons, and sparse feedback. Hierarchical approaches, such as task and motion planning (TAMP), address these…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…
Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…
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…
In complex manipulation tasks, e.g., manipulation by pivoting, the motion of the object being manipulated has to satisfy path constraints that can change during the motion. Therefore, a single grasp may not be sufficient for the entire…
Learning to manipulate cloth is both a paradigmatic problem for robotic research and a problem of immediate relevance to a variety of applications ranging from assistive care to the service industry. The complex physics of the deformable…
Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret…