4 papers
Sparse Meets Dense: Correspondence Guided Robotic Manipulation with Rigid-Deformable Interactions
Ziyu Zhu, Yue Chen, Xirui Liang +5
Manipulation involving rigid-deformable interactions, such as hanging clothes or dressing humans, is common in daily life, making it essential for household robots. Compared to sin…
DexGarmentLab: Dexterous Garment Manipulation Environment with Generalizable Policy
Yuran Wang, Ruihai Wu, Yue Chen +7
Garment manipulation is a critical challenge due to the diversity in garment categories, geometries, and deformations. Despite this, humans can effortlessly handle garments, thanks…
GarmentPile: Point-Level Visual Affordance Guided Retrieval and Adaptation for Cluttered Garments Manipulation
Ruihai Wu, Ziyu Zhu, Yuran Wang +3
Cluttered garments manipulation poses significant challenges due to the complex, deformable nature of garments and intricate garment relations. Unlike single-garment manipulation,…
GarmentLab: A Unified Simulation and Benchmark for Garment Manipulation
Haoran Lu, Ruihai Wu, Yitong Li +7
Manipulating garments and fabrics has long been a critical endeavor in the development of home-assistant robots. However, due to complex dynamics and topological structures, garmen…