提出一种不依赖布料形状的布料状态表示方法，可准确预测褶皱位置。
CloSE: A Geometric Shape-Agnostic Cloth State Representation
- 基于边缘拓扑索引构建圆形网格的dGLI盘，捕捉布料变形特征。
- 从dGLI盘抽象出紧凑连续的CloSE表示，对不同形状布料通用。
- 在褶皱预测、语义标注和规划任务中表现优异，适合机器人操控应用。
布料操作因非刚性特性而困难，良好的形变表征至关重要。本文提出一种新的布料形变状态表示方法：首先基于布料边界边段的拓扑索引，在圆形网格上构建dGLI盘，其热力图能揭示不同形状、大小或朝向布料下一致的形态特征；随后将这些关键特征抽象为一个圆，称为布料状态表示（CloSE）。该表示紧凑、连续且对多种形状具有泛化能力。实验表明，该表示能准确预测多个仿真布料数据集中的褶皱位置。此外，还在语义标注与高低层次规划两类任务中验证了其有效性。代码与数据集见：https://close-representation.github.io/
原文摘要 · Abstract (English)
Cloth manipulation is a difficult problem mainly because of the non-rigid nature of cloth, which makes a good representation of deformation essential. We present a new representation for the deformation-state of clothes. First, we propose the dGLI disk representation based on topological indices computed for edge segments of the cloth border that are arranged on a circular grid. The heat-map of the dGLI disk uncovers patterns that correspond to features of the cloth state that are consistent for different shapes, sizes or orientation of the cloth. We then abstract these important features from the dGLI disk into a circle, calling it the Cloth StatE representation (CloSE). This representation is compact, continuous, and general for different shapes. We show that this representation is able to accurately predict the fold locations for several simulation clothing datasets. Finally, we also show the strengths of this representation in two relevant applications: semantic labeling and high- and low-level planning. The code and the dataset can be accessed from: https://close-representation.github.io/
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