One Fling to Goal: Environment-Aware Dynamics for Goal-Conditioned Fabric Flinging
Yang, Linhan Yang, Lei Sun, Haoran Zhang, Zeqing He, Haibin Wan, Fang Song, Chaoyang Pan, Jia
Yang, Linhan
Yang, Lei
Sun, Haoran
Zhang, Zeqing
He, Haibin
Wan, Fang
Song, Chaoyang
Pan, Jia
Supervisor
Department
Robotics
Embargo End Date
Type
Conference proceeding
Date
License
Language
English
Collections
Research Projects
Organizational Units
Journal Issue
Abstract
Fabric manipulation dynamically is commonly seen in manufacturing and domestic settings. While dynamically manipulating a fabric piece to reach a target state is highly efficient, this task presents considerable challenges due to the varying properties of different fabrics, complex dynamics when interacting with environments, and meeting required goal conditions. To address these challenges, we present One Fling to Goal, an algorithm capable of handling fabric pieces with diverse shapes and physical properties across various scenarios. Our method learns a graph-based dynamics model equipped with environmental awareness. With this dynamics model, we devise a real-time controller to enable high-speed fabric manipulation in one attempt, requiring less than 3 s to finish the goal-conditioned task. We experimentally validate our method on a goal-conditioned manipulation task in five diverse scenarios. Our method significantly improves this goal-conditioned task, achieving an average error of 13.2 mm in complex scenarios. Our method can be seamlessly transferred to real-world robotic systems and generalized to unseen scenarios in a zero-shot manner.
Citation
L. Yang, L. Yang, H. Sun, Z. Zhang, H. He, F. Wan , et al., "One Fling to Goal: Environment-Aware Dynamics for Goal-Conditioned Fabric Flinging," 2026, pp. 65-84.
Source
Springer Proceedings in Advanced Robotics
Conference
WAFR 2024 : International Workshop on the Algorithmic Foundations of Robotics
Keywords
46 Information and Computing Sciences, 4607 Graphics, Augmented Reality and Games
Subjects
Source
WAFR 2024 : International Workshop on the Algorithmic Foundations of Robotics
Publisher
Springer Nature