3 accepted papers
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…
Cloth in the real world is often crumpled, self-occluded, or folded in on itself such that key regions, such as corners, are not directly graspable, making manipulation difficult. We propose a system that leverages visual and tactile perception to unfold the cloth via grasping and sliding on edges.…
Cables are complex, high dimensional, and dynamic objects. Standard approaches to manipulate them often rely on conservative strategies that involve long series of very slow and incremental deformations, or various mechanical fixtures such as clamps, pins or rings. We are interested in manipulati…