Self-supervised Cloth Reconstruction via Action-conditioned Cloth Tracking
Zixuan Huang,Xingyu Lin,David Held,Zixuan Huang,Xingyu Lin,David Held
State estimation is one of the greatest challenges for cloth manipulation due to cloth's high dimensionality and self-occlusion. Prior works propose to identify the full state of crumpled clothes by training a mesh reconstruction model in simulation. However, such models are prone to suffer from a sim-to-real gap due to differences between cloth simulation and the real world. In this work, we prop...
