mlsanityData to 14 Oct 2026

ClothesNet: An Information-Rich 3D Garment Model Repository with Simulated Clothes Environment

arXiv 2308.09987 ↗First posted 19 Aug 2023cs.RO cs.AI cs.CVcited by 23

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Abstract (arXiv)

We present ClothesNet: a large-scale dataset of 3D clothes objects with information-rich annotations. Our dataset consists of around 4400 models covering 11 categories annotated with clothes features, boundary lines, and keypoints. ClothesNet can be used to facilitate a variety of computer vision and robot interaction tasks. Using our dataset, we establish benchmark tasks for clothes perception, including classification, boundary line segmentation, and keypoint detection, and develop simulated clothes environments for robotic interaction tasks, including rearranging, folding, hanging, and dressing. We also demonstrate the efficacy of our ClothesNet in real-world experiments. Supplemental materials and dataset are available on our project webpage.

Key facts. Cited by 23 papers in the map (data through 14 Oct 2026). Builds on 33 of its 55 references that are in the map. First posted on arXiv 19 Aug 2023.

Builds on

33 of 55 references.

References · 33

  1. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  2. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  3. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,897
  4. 2018Addressing Function Approximation Error in Actor-Critic Methodscited by 2,417
  5. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 595
  6. 2018PartNet: A Large-scale Benchmark for Fine-grained and Hierarchical Part-level 3D Object Understandingcited by 526
  7. 2018ABC: A Big CAD Model Dataset For Geometric Deep Learningcited by 341
  8. 2019DiffTaichi: Differentiable Programming for Physical Simulationcited by 258
  9. 2019Multi-Garment Net: Learning to Dress 3D People from Imagescited by 245
  10. 2016Thingi10K: A Dataset of 10,000 3D-Printing Modelscited by 183
  11. 2020SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulationcited by 121
  12. 2019CLOTH3D: Clothed 3D Humanscited by 116
21 more
  1. 2018Unsupervised Learning of Object Landmarks through Conditional Image Generationcited by 114
  2. 2019Unsupervised Learning of Object Keypoints for Perception and Controlcited by 109
  3. 2020Deep Fashion3D: A Dataset and Benchmark for 3D Garment Reconstruction from Single Imagescited by 103
  4. 2021PlasticineLab: A Soft-Body Manipulation Benchmark with Differentiable Physicscited by 103
  5. 2017Detailed, accurate, human shape estimation from clothed 3D scan sequencescited by 89
  6. 2020SIZER: A Dataset and Model for Parsing 3D Clothing and Learning Size Sensitive 3D Clothingcited by 87
  7. 2020Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networkscited by 78
  8. 2020Scalable Differentiable Physics for Learning and Controlcited by 73
  9. 2021DiffCloth: Differentiable Cloth Simulation with Dry Frictional Contactcited by 65
  10. 2021DiffPD: Differentiable Projective Dynamicscited by 62
  11. 2022SpeedFolding: Learning Efficient Bimanual Folding of Garmentscited by 52
  12. 2019Assistive Gym: A Physics Simulation Framework for Assistive Roboticscited by 44
  13. 2021GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completioncited by 43
  14. 2021Challenges and Outlook in Robotic Manipulation of Deformable Objectscited by 43
  15. 2022Differentiable Simulation of Soft Multi-body Systemscited by 39
  16. 2022DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objectscited by 31
  17. 2021Skeleton Merger: an Unsupervised Aligned Keypoint Detectorcited by 27
  18. 2022USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for Generalizable Manipulationcited by 27
  19. 2017Learning the Latent "Look": Unsupervised Discovery of a Style-Coherent Embedding from Fashion Imagescited by 19
  20. 2019Learning to Collaborate from Simulation for Robot-Assisted Dressingcited by 16
  21. 20223D Magic Mirror: Clothing Reconstruction from a Single Image via a Causal Perspectivecited by 5

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 8; 2025: 6; 2026: 9.

23 papers.

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  1. 2026RoboDojo: A Unified Sim-and-Real Benchmark for Comprehensive Evaluation of Generalist Robot Manipulation Policiescited by 40
  2. 2026LLM-as-a-Verifier: A General-Purpose Verification Frameworkcited by 30
  3. 2024GarmentCodeData: A Dataset of 3D Made-to-Measure Garments With Sewing Patternscited by 28
  4. 2024UniGarmentManip: A Unified Framework for Category-Level Garment Manipulation via Dense Visual Correspondencecited by 23
  5. 2024GarmentLab: A Unified Simulation and Benchmark for Garment Manipulationcited by 22
  6. 2024ManiFoundation Model for General-Purpose Robotic Manipulation of Contact Synthesis with Arbitrary Objects and Robotscited by 11
  7. 2025GarmentPile: Point-Level Visual Affordance Guided Retrieval and Adaptation for Cluttered Garments Manipulationcited by 9
  8. 2024Design2Cloth: 3D Cloth Generation from 2D Maskscited by 5
  9. 2024General-purpose Clothes Manipulation with Semantic Keypointscited by 5
  10. 2024Key-Grid: Unsupervised 3D Keypoints Detection using Grid Heatmap Featurescited by 5
  11. 2025BiFold: Bimanual Cloth Folding with Language Guidancecited by 4
  12. 2026LeHome: A Simulation Environment for Deformable Object Manipulation in Household Scenarioscited by 2
11 more
  1. 2026Instant-Fold: In-Context Imitation Learning for Deformable Object Manipulationcited by 2
  2. 2024SelfGeo: Self-supervised and Geodesic-consistent Estimation of Keypoints on Deformable Shapescited by 1
  3. 2025FoldNet: Learning Generalizable Closed-Loop Policy for Garment Folding via Keypoint-Driven Asset and Demonstration Synthesiscited by 1
  4. 2025CLASP: General-Purpose Clothes Manipulation with Semantic Keypointscited by 1
  5. 2026GarmentPile++: Affordance-Driven Cluttered Garments Retrieval with Vision-Language Reasoningcited by 1
  6. 20263D Generation for Embodied AI and Robotic Simulation: A Surveycited by 1
  7. 2025FCBV-Net: Category-Level Robotic Garment Smoothing via Feature-Conditioned Bimanual Value Predictioncited by 0
  8. 2025Fine-Grained Customized Fashion Design with Image-into-Prompt benchmark and dataset from LMMcited by 0
  9. 2026TRACER: Texture-Robust Affordance Chain-of-Thought for Deformable-Object Refinementcited by 0
  10. 2026AnnotateAnything: Automatic Annotation of 3D Assets for Robot Manipulationcited by 0
  11. 2026GKDT: General Keypoint Detection Transformercited by 0