4 papers · 1 filter
Dynamic robotic cloth folding with efficient Koopman operator-based model predictive control
Edoardo Caldarelli, Franco Coltraro, Adrià Colomé +2
Robotic cloth folding is a challenging task, particularly when considering dynamic folding tasks, which aim at folding cloth by fast motions that leverage its dynamics. When subjec…
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…
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…
Benchmarking the Sim-to-Real Gap in Cloth Manipulation
David Blanco-Mulero, Oriol Barbany, Gokhan Alcan +3
Realistic physics engines play a crucial role for learning to manipulate deformable objects such as garments in simulation. By doing so, researchers can circumvent challenges such…