Learning Fabric Manipulation in the Real World with Human Videos

Understand

Fabric manipulation is a long-standing challenge in robotics due to the enormous state space and complex dynamics.

• Learning approaches stand out as promising for this domain as they allow us to learn behaviours directly from data.
• Most prior methods however rely heavily on simulation, which is still limited by the large sim-to-real gap of deformable objects or rely on large datasets.
• A promising alternative is to learn fabric manipulation directly from watching humans perform the task.