Corpus ID: 214714285

Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images

  title={Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images},
  author={Aditya Ganapathi and Priya Sundaresan and Brijen Thananjeyan and A. Balakrishna and Daniel Seita and J. Grannen and Minho Hwang and Ryan Hoque and J. Gonzalez and N. Jamali and K. Yamane and Soshi Iba and Ken Goldberg},
  • Aditya Ganapathi, Priya Sundaresan, +10 authors Ken Goldberg
  • Published 2020
  • Computer Science, Engineering
  • ArXiv
  • Robotic fabric manipulation is challenging due to the infinite dimensional configuration space and complex dynamics. In this paper, we learn visual representations of deformable fabric by training dense object descriptors that capture correspondences across images of fabric in various configurations. The learned descriptors capture higher level geometric structure, facilitating design of explainable policies. We demonstrate that the learned representation facilitates multistep fabric smoothing… CONTINUE READING

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