Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research Article Swipe
Ryan Hoque
,
Kaushik Shivakumar
,
Shrey Aeron
,
Gabriel Deza
,
Aditya Ganapathi
,
Adrian Wong
,
Johnny Lee
,
Andy Zeng
,
Vincent Vanhoucke
,
Ken Goldberg
·
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2204.10297
YOU?
·
· 2022
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2204.10297
Autonomous fabric manipulation is a longstanding challenge in robotics, but evaluating progress is difficult due to the cost and diversity of robot hardware. Using Reach, a cloud robotics platform that enables low-latency remote execution of control policies on physical robots, we present the first systematic benchmarking of fabric manipulation algorithms on physical hardware. We develop 4 novel learning-based algorithms that model expert actions, keypoints, reward functions, and dynamic motions, and we compare these against 4 learning-free and inverse dynamics algorithms on the task of folding a crumpled T-shirt with a single robot arm. The entire lifecycle of data collection, model training, and policy evaluation is performed remotely without physical access to the robot workcell. Results suggest a new algorithm combining imitation learning with analytic methods achieves 84% of human-level performance on the folding task. See https://sites.google.com/berkeley.edu/cloudfolding for all data, code, models, and supplemental material.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2204.10297
- https://arxiv.org/pdf/2204.10297
- OA Status
- green
- Cited By
- 2
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4224272942
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4224272942Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2204.10297Digital Object Identifier
- Title
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Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics ResearchWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
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2022Year of publication
- Publication date
-
2022-04-21Full publication date if available
- Authors
-
Ryan Hoque, Kaushik Shivakumar, Shrey Aeron, Gabriel Deza, Aditya Ganapathi, Adrian Wong, Johnny Lee, Andy Zeng, Vincent Vanhoucke, Ken GoldbergList of authors in order
- Landing page
-
https://arxiv.org/abs/2204.10297Publisher landing page
- PDF URL
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https://arxiv.org/pdf/2204.10297Direct link to full text PDF
- Open access
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YesWhether a free full text is available
- OA status
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greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2204.10297Direct OA link when available
- Concepts
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Robotics, Artificial intelligence, Computer science, Robot, Robotic arm, Benchmarking, Cloud computing, Task (project management), Engineering, Operating system, Business, Systems engineering, MarketingTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
2Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1, 2022: 1Per-year citation counts (last 5 years)
- Related works (count)
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10Other works algorithmically related by OpenAlex
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| abstract_inverted_index.material. | 143 |
| abstract_inverted_index.performed | 105 |
| abstract_inverted_index.robotics, | 8 |
| abstract_inverted_index.training, | 100 |
| abstract_inverted_index.workcell. | 113 |
| abstract_inverted_index.Autonomous | 0 |
| abstract_inverted_index.algorithms | 49, 58, 79 |
| abstract_inverted_index.evaluating | 10 |
| abstract_inverted_index.evaluation | 103 |
| abstract_inverted_index.functions, | 65 |
| abstract_inverted_index.keypoints, | 63 |
| abstract_inverted_index.systematic | 44 |
| abstract_inverted_index.collection, | 98 |
| abstract_inverted_index.human-level | 128 |
| abstract_inverted_index.low-latency | 31 |
| abstract_inverted_index.performance | 129 |
| abstract_inverted_index.benchmarking | 45 |
| abstract_inverted_index.longstanding | 5 |
| abstract_inverted_index.manipulation | 2, 48 |
| abstract_inverted_index.supplemental | 142 |
| abstract_inverted_index.learning-free | 75 |
| abstract_inverted_index.learning-based | 57 |
| abstract_inverted_index.https://sites.google.com/berkeley.edu/cloudfolding | 135 |
| cited_by_percentile_year | |
| countries_distinct_count | 0 |
| institutions_distinct_count | 10 |
| citation_normalized_percentile |