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Deep Transfer Learning of Pick Points on Fabric for Robot Bed-Making
[article]
2019
arXiv
pre-print
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We present a supervised deep transfer learning approach to locate pick points using depth images for invariance to color and texture. ...
Average coverage results of 92% for 193 beds suggest that transfer-invariant robot pick points on fabric can be effectively learned. ...
The contributions of this paper include: (1) a deep transfer learning approach to selecting pick points that generalizes across robots and blankets, and (2) a formalization of robot bed-making based on ...
arXiv:1809.09810v3
fatcat:umvv6asdwbaevj3dgx5ew42bbi
Learning Arbitrary-Goal Fabric Folding with One Hour of Real Robot Experience
[article]
2020
arXiv
pre-print
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In this paper, we show that it is possible to learn fabric folding skills in only an hour of self-supervised real robot experience, without human supervision or simulation. ...
Manipulating deformable objects, such as fabric, is a long standing problem in robotics, with state estimation and control posing a significant challenge for traditional methods. ...
They showed that using RGB as input transferred better than using only depth images. Our work utilizes only RGB images. Ganapathi et al. ...
arXiv:2010.03209v1
fatcat:wzajwisuizhbzla6wbohudqm7u
Modeling, learning, perception, and control methods for deformable object manipulation
2021
Science Robotics
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of deformable objects. ...
Perceiving and handling deformable objects is an integral part of everyday life for humans. ...
A recent work (75) demonstrates bed making by integrating deep transfer learning and grasping. ...
doi:10.1126/scirobotics.abd8803
pmid:34043538
fatcat:3q54vpiprrcsnpffmbduj3fjrm
kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation
[article]
2019
arXiv
pre-print
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We would like robots to achieve purposeful manipulation by placing any instance from a category of objects into a desired set of goal states. ...
Hence we propose a novel formulation of category-level manipulation that uses semantic 3D keypoints as the object representation. ...
Robot bed-making: Deep transfer learn-
ing using depth sensing of deformable fabric. arXiv preprint arXiv:1809.09810, 2018.
25. Xiao Sun, Bin Xiao, Fangyin Wei, Shuang Liang, and Yichen Wei. ...
arXiv:1903.06684v2
fatcat:gaghpp3ukjg7xad3u35yplur24
VisuoSpatial Foresight for Physical Sequential Fabric Manipulation
[article]
2021
arXiv
pre-print
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Results suggest that training visual dynamics models using longer, corner-based actions can improve the efficiency of fabric folding by 76% and enable a physical sequential fabric folding task that VSF ...
A key finding was that depth sensing significantly improves performance: RGBD data yields an 80% improvement in fabric folding success rate in simulation over pure RGB data. ...
Seita D, Jamali N, Laskey M, Berenstein R, Tanwani AK, Baskaran P, Iba S,
Canny J, Goldberg K (2019) Deep Transfer Learning of Pick Points on Fabric for
Robot Bed-Making. ...
arXiv:2102.09754v2
fatcat:kyxkizg7ofg2vbsor6q6jclf3y
Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor
[article]
2020
arXiv
pre-print
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Due to the complexity of fabric states and dynamics, we apply deep imitation learning to learn policies that, given color (RGB), depth (D), or combined color-depth (RGBD) images of a rectangular fabric ...
fabric smoothing policies can be learned from an algorithmic supervisor and that depth sensing is a valuable addition to color alone. ...
[51] trained an image-based policy for fabric smoothing in simulation using deep reinforcement learning, and then applied domain randomization to transfer it to a physical PR2 robot. ...
arXiv:1910.04854v2
fatcat:zcibrbailjhhdephrdsn4q2v5a
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics
[article]
2020
arXiv
pre-print
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In this paper, we learn visual correspondences for deformable fabrics across different configurations in simulation and show that this representation can be used to design policies for a variety of tasks ...
Given a single demonstration of a new task from an initial fabric configuration, the learned correspondences can be used to compute geometrically equivalent actions in a new fabric configuration. ...
INTRODUCTION Robot fabric manipulation has applications in folding laundry [4, 17, 25, 46] , bed making [37] , surgery [8, 38, 42, 43] , and manufacturing [27, 45] . ...
arXiv:2003.12698v2
fatcat:ftdd3zxw5vektkcrb5q7zhxi7a
VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation
[article]
2021
arXiv
pre-print
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2020 pre-print arXiv:2003.09044v2 fatcat:6hqaw3eqzjcd7as67z5avtsyziOther Versions
Robotic fabric manipulation has applications in home robotics, textiles, senior care and surgery. ...
We introduce VisuoSpatial Foresight (VSF), which builds on prior work by learning visual dynamics on domain randomized RGB images and depth maps simultaneously and completely in simulation. ...
Fabric manipulation in particular has applications ranging from senior care [18] , sewing [47] , ironing [30] , bed-making [50] and laundry folding [35, 29, 66, 51] to manufacturing upholstery ...
arXiv:2003.09044v3
fatcat:cgsbhrgtwnblhmugujvc6ckpya
Bodies Uncovered: Learning to Manipulate Real Blankets Around People via Physics Simulations
[article]
2022
arXiv
pre-print
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2021 pre-print arXiv:2109.04930v1 fatcat:4a3g5uurqndahorhiypya4hqwq
We compare two approaches for optimizing policies which provide a robot with grasp and release points that uncover a target part of the body: 1) reinforcement learning and 2) self-supervised learning with ...
We trained and conducted evaluations of these policies in physics simulation environments that consist of a deformable cloth mesh covering a simulated human lying supine on a bed. ...
Seita et al [8] , has introduced a method for autonomous bed-making that leverages depth images to find and pull the corners of a blanket to corresponding corners of a bed. ...
arXiv:2109.04930v2
fatcat:xvgwj6a5c5gqxkem36tmne7si4
FICTION IN TH€ S€V€NTI€S Articles Poems Opinions and Notes A QUARTERLY OF CRITICISM AND R6VI6W
unpublished
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The general horrors of mealtimes in the hospital, of bed-making and working in the operating room, are presented in both novels and so are specific episodes : a bungled taking of blood from one of the ...
She fabricates a past that bears little relation to her own and labels the picture of her fat self "Aunt Dierdre." ...
of metaphor derives from a fear of subjectivity. ...
fatcat:x2pz3lf7irdaxcazaeqxnyxwzy