Description

O1: Formulate a representation of the C-space of textile objects linked to key parts, and exploit such representation to enable reasoning at a high-level in C-space, developing a novel planner that navigates through identified high-level states leveraging dynamics and deformation as cost.
O2: Fast perception methods to identify textile key parts that allow the computation of the cloth coordinates in our novel representation.
O3: Formalization of the low-level requirements for state transitions and formulate manipulation primitives either learned from demonstrations or simulated in virtual reality.

The work is under the scope of the following projects:

• CHLOE-Map: Geometric Coordinates to Navigate the Configuration Space of Cloth-Like Objects for Robotic Manipulation (web)