Notice: Function _load_textdomain_just_in_time was called incorrectly. Translation loading for the acf domain was triggered too early. This is usually an indicator for some code in the plugin or theme running too early. Translations should be loaded at the init action or later. Please see Debugging in WordPress for more information. (This message was added in version 6.7.0.) in /var/www/html/roboticslab/wp-includes/functions.php on line 6121
Towards Clothes Hanging via Cloth Simulation and Deep Convolutional Networks - RoboticsLab

Towards Clothes Hanging via Cloth Simulation and Deep Convolutional Networks

Description

People spend several hours a week doing laundry, with hanging clothes being one of the laundry tasks to be performed. Nevertheless, deformable object manipulation still proves to be a challenge for most robotic systems, due to the extremely large number of internal degrees of freedom of a piece of clothing and its chaotic nature. This work presents a step towards automated robot clothes hanging by modelling the dynamics of the hanging task via deep convolutional models. Two models are developed to address two different problems: determining if the garment will hang or not (classification), and estimating the future garment location in space (regression). Both models have been trained with a synthetic dataset formed by 15 000 examples generated though a dynamic simulation of a deformable object. Experiments show that the deep convolutional models presented perform better than a human expert, and that future predictions are largely influenced by time, with uncertainty influencing directly the accuracy of the predictions.