We have not lifted any functions out of this paper's repositories yet, so there is nothing we have run. If it links a repository, it is listed below.
Some links come from the archived Papers with Code dataset (CC BY-SA 4.0): attribution and licence.
We address the problem of goal-directed cloth manipulation, a challenging task due to the deformability of cloth. Our insight is that optical flow, a technique normally used for motion estimation in video, can also provide an effective representation for corresponding cloth poses across observation and goal images. We introduce FabricFlowNet (FFN), a cloth manipulation policy that leverages flow as both an input and as an action representation to improve performance. FabricFlowNet also elegantly switches between bimanual and single-arm actions based on the desired goal. We show that FabricFlowNet significantly outperforms state-of-the-art model-free and model-based cloth manipulation policies that take image input. We also present real-world experiments on a bimanual system, demonstrating effective sim-to-real transfer. Finally, we show that our method generalizes when trained on a single square cloth to other cloth shapes, such as T-shirts and rectangular cloths. Video and other supplementary materials are available at: https://sites.google.com/view/fabricflownet.
The same record, over MCP at https://syntology.ai/mcp:
get_harvested_code_for_paper("2111.05623")
get_code_for_paper("2111.05623")
have("2111.05623")
Connect an agent — have() is free.