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Clothing manipulation

Takeo Igarashi, John F. Hughes
2002 Proceedings of the 15th annual ACM symposium on User interface software and technology - UIST '02  
This paper presents interaction techniques (and the underlying implementations) for putting clothes on a 3D character and manipulating them.  ...  The user can apply pushpins to fix certain cloth points d uring dragging. The techniques are ideal for specifying an initial cloth configuration before applying a more sophisticated cloth simulation.  ...  But this is like manipulating clothes with chopsticks; it's not ideal for putting clothes on a 3D character.  ... 
doi:10.1145/571985.571999 dblp:conf/uist/IgarashiH02 fatcat:fh65k63rxjgqtiwocetqv5yx6u

Dexterous Manipulation of Cloth

Yunfei Bai, Wenhao Yu, C. Karen Liu
2016 Computer graphics forum (Print)  
Abstract This paper introduces a new technique to synthesize dexterous manipulation of cloth.  ...  We demonstrate our technique on a set of cloth manipulation tasks in daily activities, including folding laundry, wringing a towel, and putting on a scarf.  ...  However, for more general cloth manipulation tasks, such as using hands to slide across the cloth to remove wrinkles, the slipping manipulation strategy is important.  ... 
doi:10.1111/cgf.12852 fatcat:7vlpd72z2zh4bjqyvm54i7ib5e

Cloth Manipulation Using Random-Forest-Based Imitation Learning [article]

Biao Jia, Zherong Pan, Zhe Hu, Jia Pan, Dinesh Manocha
2019 arXiv   pre-print
We present a novel approach for robust manipulation of high-DOF deformable objects such as cloth.  ...  Our approach enables learning of robust control policy for cloth manipulation with guarantees on convergence.We have evaluated our approach on different multi-task cloth manipulation benchmarks such as  ...  In a real-life cloth manipulation task, a typical robot only observes a single RGB(D) image of the cloth.  ... 
arXiv:1802.09661v4 fatcat:zadveobxfvc7hptxau6rfw7gmu

Dynamic Cloth Manipulation with Deep Reinforcement Learning [article]

Rishabh Jangir, Guillem Alenya, Carme Torras
2020 arXiv   pre-print
In this paper we present a Deep Reinforcement Learning approach to solve dynamic cloth manipulation tasks.  ...  Finally, we compare different combinations of control policy encodings, demonstrations, and sparse reward learning techniques, and show that our proposed approach can learn dynamic cloth manipulation in  ...  A rigid ball is used as a manipulator which can attach itself to a node on the cloth.  ... 
arXiv:1910.14475v2 fatcat:2lee3axzo5dphnartoezqd5d4i

A Grasping-centered Analysis for Cloth Manipulation [article]

Júlia Borràs, Guillem Alenya, Carme Torras
2020 arXiv   pre-print
Our framework is generic, provides a classification of cloth manipulation primitives and can inspire gripper design and benchmark construction for cloth manipulation.  ...  This framework enables us to identify what grasps have been used in literature until now to perform robotic cloth manipulation, and allows for a precise definition of all the tasks that have been tackled  ...  variety needed to manipulate clothes.  ... 
arXiv:1906.08202v2 fatcat:i43r2wkvxraftdfyclmeg7yoim

FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfolding [article]

Huy Ha, Shuran Song
2021 arXiv   pre-print
Yet, most prior works have tackled cloth manipulation using exclusively single-arm quasi-static actions, which requires a large number of interactions for challenging initial cloth configurations and strictly  ...  cloths.  ...  cloth manipulation skill.  ... 
arXiv:2105.03655v3 fatcat:qe74abtcdzbjfahwv2uakl3zcu

FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policy [article]

Thomas Weng, Sujay Bajracharya, Yufei Wang, Khush Agrawal, David Held
2022 arXiv   pre-print
We address the problem of goal-directed cloth manipulation, a challenging task due to the deformability of cloth.  ...  We show that FabricFlowNet significantly outperforms state-of-the-art model-free and model-based cloth manipulation policies that take image input.  ...  For cloth manipulation, Lee et al.  ... 
arXiv:2111.05623v3 fatcat:z73tl2t3mzgozfiifmfanwzy64

Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation [article]

Zixuan Huang, Xingyu Lin, David Held
2022 arXiv   pre-print
Self-occlusion is challenging for cloth manipulation, as it makes it difficult to estimate the full state of the cloth.  ...  We evaluate our system both on cloth flattening as well as on cloth canonicalization, in which the objective is to manipulate the cloth into a canonical pose.  ...  Data-driven Methods for Cloth manipulation Prior works in data-driven cloth manipulation can be categorized as model-free or model-based.  ... 
arXiv:2206.02881v2 fatcat:krr7vzrpineyrbsaqgy3iqwcsy

Encoding cloth manipulations using a graph of states and transitions [article]

Júlia Borràs, Guillem Alenyà, Carme Torras
2022 arXiv   pre-print
Cloth manipulation is very relevant for domestic robotic tasks, but it presents many challenges due to the complexity of representing, recognizing and predicting the behaviour of cloth under manipulation  ...  We also define a Cloth Manipulation Graph that encodes all the strategies to accomplish a task.  ...  For this reason, cloth manipulation research has traditionally put more effort in cloth state estimation and grasp point detection, whereas manipulation skills are underdeveloped [2] .  ... 
arXiv:2009.14681v2 fatcat:fqml2n6ulvgflb4zw7ehu6a57m

Semantic State Estimation in Cloth Manipulation Tasks [article]

Georgies Tzelepis, Eren Erdal Aksoy, Júlia Borràs, Guillem Alenyà
2022 arXiv   pre-print
In this paper, we aim to solve the problem of semantic state estimation in cloth manipulation tasks.  ...  Furthermore, we investigate the scalability of our semantic state estimation framework in robot monitoring tasks of long and complex cloth manipulations.  ...  Cloth Manipulation Tasks and Semantic States Seven different uni-and bi-manual cloth manipulation tasks such as folding diagonally and lifting with two grippers are performed on eighteen different cloths  ... 
arXiv:2203.11647v1 fatcat:xqaj4rrcrfbxredg3kdsecihem

Bimanual robotic cloth manipulation for laundry folding

C. Bersch, B. Pitzer, S. Kammel
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Especially, grasping and manipulation require new approaches that can accommodate for an object's variable and changing appearance.  ...  We describe a method to compute valid grasp poses on the cloth which accounts for deformability.  ...  Fiducial Markers In our current system, we focus on the grasping and planning aspects of cloth manipulation.  ... 
doi:10.1109/iros.2011.6048873 fatcat:z6atyyxarne25c6nslaesf4uxi

Bimanual robotic cloth manipulation for laundry folding

Christian Bersch, Benjamin Pitzer, Soren Kammel
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Especially, grasping and manipulation require new approaches that can accommodate for an object's variable and changing appearance.  ...  We describe a method to compute valid grasp poses on the cloth which accounts for deformability.  ...  Fiducial Markers In our current system, we focus on the grasping and planning aspects of cloth manipulation.  ... 
doi:10.1109/iros.2011.6095109 dblp:conf/iros/BerschPK11 fatcat:fmiv5luzhnexdcisxcdl7der7i

Robot Vision Architecture for Autonomous Clothes Manipulation [article]

Li Sun and Gerardo Aragon-Camarasa and Simon Rogers and J. Paul Siebert
2016 arXiv   pre-print
manipulation tasks.  ...  This paper presents a novel robot vision architecture for perceiving generic 3D clothes configurations.  ...  visually-guided clothes manipulation tasks.  ... 
arXiv:1610.05824v1 fatcat:ojf3x5v4qvaj7bc7vmgpxc2fl4

Controlled Gaussian Process Dynamical Models with Application to Robotic Cloth Manipulation [article]

Fabio Amadio, Juan Antonio Delgado-Guerrero, Adrià Colomé, Carme Torras
2021 arXiv   pre-print
For this reason, most cloth manipulation approaches in literature perform static or quasi-static manipulation.  ...  Over the last years, robotic cloth manipulation has gained relevance within the research community.  ...  EXPERIMENT WITH REAL CLOTH Finally, we tested CGPDM on data collected in a real cloth manipulation experiment.  ... 
arXiv:2103.06615v2 fatcat:ju2lxt47gbbknbdqargkrnosii

Coupling cloth and rigid bodies for dexterous manipulation

Yunfei Bai, C. Karen Liu
2014 Proceedings of the Seventh International Conference on Motion in Games - MIG '14  
This paper introduces a new simulation technique to enable detailed dexterous manipulation of cloth.  ...  We demonstrate a set of basic manipulation skills including gripping, pinching, and pressing, that are frequently seen in daily activities such as dressing and folding clothes.  ...  Introduction Manipulating cloth is an important skill of daily living.  ... 
doi:10.1145/2668064.2668066 dblp:conf/mig/BaiL14 fatcat:uhtptnrhbfh35ouyr53wrcjfma
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