Foldsformer: Learning Sequential Multi-Step Cloth Manipulation With Space-Time Attention

Sequential multi-step cloth manipulation is a challenging problem in robotic manipulation, requiring a robot to perceive the cloth state and plan a sequence of chained actions leading to the desired state. Most previous works address this problem in a goal-conditioned way, and goal observation must...

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Veröffentlicht in:	IEEE robotics and automation letters 2023-02, Vol.8 (2), p.760-767
Hauptverfasser:	Mo, Kai, Xia, Chongkun, Wang, Xueqian, Deng, Yuhong, Gao, Xuehai, Liang, Bin
Format:	Artikel
Sprache:	eng
Schlagworte:	Cloth Configurations Deep Learning in Grasping and Manipulation Feature extraction Perception-Action Coupling Robots Spacetime Task analysis Training Transformers Videos Visualization
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