Arnau Saumell Portillo

Reactive In-Air Clothing Manipulation with Confidence-Aware Dense Correspondence and Visuotactile Affordance

Manipulating clothing is challenging due to their complex, variable configurations and frequent self-occlusion. While prior systems often rely on flattening garments, humans routinely identify keypoints in highly crumpled and suspended states. We present a novel, task-agnostic, visuotactile framewor…