• Corpus ID: 214714285

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

@article{Ganapathi2020LearningTS,
  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 Ashwin Balakrishna and Daniel Seita and Jennifer Grannen and Minho Hwang and Ryan Hoque and Joseph Gonzalez and Nawid Jamali and Katsu Yamane and Soshi Iba and Ken Goldberg},
  journal={ArXiv},
  year={2020},
  volume={abs/2003.12698}
}
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… 

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