Oriol Barbany

2 accepted papers

2025

BiFold: Bimanual Cloth Folding with Language Guidance

Oriol Barbany, Adrià Colomé, Carme Torras

ICRA 2025

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 can have. In this work, we learn folding actions conditioned on text commands. Translating high-level, abstract instructio

Cited by 6 Source ↗Scholar ↗

2024

Benchmarking the Sim-to-Real Gap in Cloth Manipulation

David Blanco Mulero, Oriol Barbany, Gokhan Alcan, Adrià Colomé, Carme Torras, Ville Kyrki

RA-L 2024

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 as sensing the deformation of the object in the realworld. In spite of the extensive use of simulations for this task, f

Cited by 28 Source ↗Scholar ↗