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cs.RO2026
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-…
cs.RO2026
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…
cs.RO2025
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…