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Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulation. (arXiv:2206.02881v2 [cs.RO] UPDATED)
June 24, 2022, 1:12 a.m. | Zixuan Huang, Xingyu Lin, David Held
cs.CV updates on arXiv.org arxiv.org
Self-occlusion is challenging for cloth manipulation, as it makes it
difficult to estimate the full state of the cloth. Ideally, a robot trying to
unfold a crumpled or folded cloth should be able to reason about the cloth's
occluded regions. We leverage recent advances in pose estimation for cloth to
build a system that uses explicit occlusion reasoning to unfold a crumpled
cloth. Specifically, we first learn a model to reconstruct the mesh of the
cloth. However, the model will …
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