Cloth Funnels: Canonicalized-Alignment for Multi-Purpose Garment Manipulation
Alper Canberk,Cheng Chi,Huy Ha,Benjamin Burchfiel,Eric Cousineau,Siyuan Feng,Shuran Song,Alper Canberk,Cheng Chi,Huy Ha,Benjamin Burchfiel,Eric Cousineau,Siyuan Feng,Shuran Song
Automating garment manipulation is challenging due to extremely high variability in object configurations. To reduce this intrinsic variation, we introduce the task of “canonicalized-alignment” that simplifies downstream applications by reducing the possible garment configurations. This task can be considered as “cloth state funnel” that manipulates arbitrarily configured clothing items into a pre...
