4 papers
BiFold: Bimanual Cloth Folding with Language Guidance
Oriol Barbany, Adrià Colomé, Carme Torras
Cloth folding is a complex task due to the inevitable self-occlusions of clothes, their complicated dynamics, and the disparate materials, geometries, and textures that garments ca…
Beyond Static Perception: Integrating Temporal Context into VLMs for Cloth Folding
Oriol Barbany, Adrià Colomé, Carme Torras
Manipulating clothes is challenging due to their complex dynamics, high deformability, and frequent self-occlusions. Garments exhibit a nearly infinite number of configurations, ma…
Linear quadratic control of nonlinear systems with Koopman operator learning and the Nyström method
Edoardo Caldarelli, Antoine Chatalic, Adrià Colomé +4
In this paper, we study how the Koopman operator framework can be combined with kernel methods to effectively control nonlinear dynamical systems. While kernel methods have typical…
T-DOM: A Taxonomy for Robotic Manipulation of Deformable Objects
David Blanco-Mulero, Yifei Dong, Julia Borras +2
Robotic grasp and manipulation taxonomies, inspired by observing human manipulation strategies, can provide key guidance for tasks ranging from robotic gripper design to the develo…