SpeedFolding: Learning Efficient Bimanual Folding of Garments
Yahav Avigal,Lars Berscheid,Tamim Asfour,Torsten Kröger,Ken Goldberg,Yahav Avigal,Lars Berscheid,Tamim Asfour,Torsten Kröger,Ken Goldberg
Folding garments reliably and efficiently is a long standing challenge in robotic manipulation due to the complex dynamics and high dimensional configuration space of garments. An intuitive approach is to initially manipulate the garment to a canonical smooth configuration before folding. In this work, we develop SpeedFolding, a reliable and efficient bimanual system, which given user-defined inst...
