8 papers
Continuous-Time Cloth Dynamics with Physics-Informed Neural ODEs
Yingdong Ru, Lipeng Zhuang, Zhuo He +1
We present ContinuousCloth, a continuous-time, physics-informed neural solver for deformable cloth dynamics that enforces a spring--mass ODE within a neural trajectory model. Unlik…
ClothCode: Generative Modeling for Garment State Estimation and Dynamics Prediction
Yingdong Ru, Lipeng Zhuang, Shiyu Fan +3
We introduce ClothCode, a unified generative framework for garment state estimation and action-conditioned dynamics prediction in a shared discrete configuration space. A material-…
Masked Generative Motion Planning with Geometry-Guided Token Search
Lipeng Zhuang, Yingdong Ru, Shiyu Fan +3
Generative motion planners typically use learned trajectory priors for initial generation, while leaving test-time repair to local continuous refinement. We introduce Masked Genera…
FoldBack: Self-Correcting Masked Generative Policy for Long-Horizon Garment Folding
Lipeng Zhuang, Shiyu Fan, Yingdong Ru +4
We present FoldBack, a self-correcting masked generative policy for long-horizon garment folding. Existing long-trajectory policies may continue after a missed or slipped grasp eve…
Masked Generative Policy for Robotic Control
Lipeng Zhuang, Shiyu Fan, Florent P. Audonnet +4
We present Masked Generative Policy (MGP), a novel framework for visuomotor imitation learning. We represent actions as discrete tokens, and train a conditional masked transformer…
A Convolutional Neural Deferred Shader for Physics Based Rendering
Zhuo He, Yingdong Ru, Qianying Liu +2
Recent advances in neural rendering have achieved impressive results on photorealistic shading and relighting, by using a multilayer perceptron (MLP) as a regression model to learn…
Can Real-to-Sim Approaches Capture Dynamic Fabric Behavior for Robotic Fabric Manipulation?
Yingdong Ru, Lipeng Zhuang, Zhuo He +2
This paper presents a rigorous evaluation of Real-to-Sim parameter estimation approaches for fabric manipulation in robotics. The study systematically assesses three state-of-the-a…
Flat'n'Fold: A Diverse Multi-Modal Dataset for Garment Perception and Manipulation
Lipeng Zhuang, Shiyu Fan, Yingdong Ru +3
We present Flat'n'Fold, a novel large-scale dataset for garment manipulation that addresses critical gaps in existing datasets. Comprising 1,212 human and 887 robot demonstrations…