VisuoSpatial Foresight for Physical Sequential Fabric Manipulation

Understand

Robotic fabric manipulation has applications in home robotics, textiles, senior care and surgery.

• Existing fabric manipulation techniques, however, are designed for specific tasks, making it difficult to generalize across different but related tasks.
• We build upon the Visual Foresight framework to learn fabric dynamics that can be efficiently reused to accomplish different sequential fabric manipulation tasks with a single goal-conditioned policy.
• We extend our earlier work on VisuoSpatial Foresight (VSF), which learns visual dynamics on domain randomized RGB images and depth maps simultaneously and completely in simulation.