mlsanityData to 14 Oct 2026

UniGarmentManip: A Unified Framework for Category-Level Garment Manipulation via Dense Visual Correspondence

arXiv 2405.06903 ↗First posted 11 May 2024cs.CVcited by 23

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Abstract (arXiv)

Garment manipulation (e.g., unfolding, folding and hanging clothes) is essential for future robots to accomplish home-assistant tasks, while highly challenging due to the diversity of garment configurations, geometries and deformations. Although able to manipulate similar shaped garments in a certain task, previous works mostly have to design different policies for different tasks, could not generalize to garments with diverse geometries, and often rely heavily on human-annotated data. In this paper, we leverage the property that, garments in a certain category have similar structures, and then learn the topological dense (point-level) visual correspondence among garments in the category level with different deformations in the self-supervised manner. The topological correspondence can be easily adapted to the functional correspondence to guide the manipulation policies for various downstream tasks, within only one or few-shot demonstrations. Experiments over garments in 3 different categories on 3 representative tasks in diverse scenarios, using one or two arms, taking one or more steps, inputting flat or messy garments, demonstrate the effectiveness of our proposed method. Project page: https://warshallrho.github.io/unigarmentmanip.

Key facts. Cited by 23 papers in the map (data through 14 Oct 2026). Builds on 51 of its 63 references that are in the map. First posted on arXiv 11 May 2024.

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51 of 63 references.

References · 51

  1. 2023Segment Anythingcited by 8,234
  2. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  3. 2018Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluidscited by 220
  4. 2021Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulationcited by 209
  5. 2021Where2Act: From Pixels to Actions for Articulated 3D Objectscited by 182
  6. 2018Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulationcited by 142
  7. 2022GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Partscited by 139
  8. 2018Sim-to-Real Reinforcement Learning for Deformable Object Manipulationcited by 131
  9. 2019CLOTH3D: Clothed 3D Humanscited by 116
  10. 2020Deep Fashion3D: A Dataset and Benchmark for 3D Garment Reconstruction from Single Imagescited by 103
  11. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  12. 2022NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fieldscited by 86
38 more
  1. 2021FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfoldingcited by 81
  2. 2021VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objectscited by 80
  3. 2020Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networkscited by 78
  4. 2019Learning to Manipulate Deformable Objects without Demonstrationscited by 77
  5. 2021Learning Visible Connectivity Dynamics for Cloth Smoothingcited by 62
  6. 2021AdaAfford: Learning to Adapt Manipulation Affordance for 3D Articulated Objects via Few-shot Interactionscited by 57
  7. 2021FabricFlowNet: Bimanual Cloth Manipulation with a Flow-based Policycited by 54
  8. 2022SpeedFolding: Learning Efficient Bimanual Folding of Garmentscited by 52
  9. 2020Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Datacited by 51
  10. 2019Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisorcited by 44
  11. 2021GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completioncited by 43
  12. 2023PartManip: Learning Cross-Category Generalizable Part Manipulation Policy from Point Cloud Observationscited by 42
  13. 2023Where2Explore: Few-shot Affordance Learning for Unseen Novel Categories of Articulated Objectscited by 35
  14. 2019Dynamic Cloth Manipulation with Deep Reinforcement Learningcited by 29
  15. 2022Cloth Funnels: Canonicalized-Alignment for Multi-Purpose Garment Manipulationcited by 28
  16. 2021Skeleton Merger: an Unsupervised Aligned Keypoint Detectorcited by 27
  17. 2022USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for Generalizable Manipulationcited by 27
  18. 2017Efficient Deformable Shape Correspondence via Kernel Matchingcited by 25
  19. 2023Learning Foresightful Dense Visual Affordance for Deformable Object Manipulationcited by 25
  20. 2023ClothesNet: An Information-Rich 3D Garment Model Repository with Simulated Clothes Environmentcited by 23
  21. 2023Learning Environment-Aware Affordance for 3D Articulated Object Manipulation under Occlusionscited by 23
  22. 2022Visuotactile Affordances for Cloth Manipulation with Local Controlcited by 21
  23. 2021The Functional Correspondence Problemcited by 20
  24. 2023One Policy to Dress Them All: Learning to Dress People with Diverse Poses and Garmentscited by 19
  25. 2022DextAIRity: Deformable Manipulation Can be a Breezecited by 18
  26. 2024UniDoorManip: Learning Universal Door Manipulation Policy Over Large-scale and Diverse Door Manipulation Environmentscited by 17
  27. 2023GarmentTracking: Category-Level Garment Pose Trackingcited by 16
  28. 2019Contrastive Predictive Coding Based Feature for Automatic Speaker Verificationcited by 15
  29. 2022AutoBag: Learning to Open Plastic Bags and Insert Objectscited by 14
  30. 2023UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Foldingcited by 13
  31. 2024Articulated Object Manipulation with Coarse-to-fine Affordance for Mitigating the Effect of Point Cloud Noisecited by 13
  32. 2022Bag All You Need: Learning a Generalizable Bagging Strategy for Heterogeneous Objectscited by 12
  33. 2023Learning to Grasp Clothing Structural Regions for Garment Manipulation Taskscited by 12
  34. 2020DGCM-Net: Dense Geometrical Correspondence Matching Network for Incremental Experience-based Robotic Graspingcited by 11
  35. 2024PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environmentscited by 11
  36. 2016Lie-X: Depth Image Based Articulated Object Pose Estimation, Tracking, and Action Recognition on Lie Groupscited by 10
  37. 2024NaturalVLM: Leveraging Fine-grained Natural Language for Affordance-Guided Visual Manipulationcited by 10
  38. 2023Learning Part Motion of Articulated Objects Using Spatially Continuous Neural Implicit Representationscited by 5

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Citing papers per year: 2024: 6; 2025: 10; 2026: 7.

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  1. 2024ET-SEED: Efficient Trajectory-Level SE(3) Equivariant Diffusion Policycited by 26
  2. 2024GarmentLab: A Unified Simulation and Benchmark for Garment Manipulationcited by 22
  3. 2025CordViP: Correspondence-based Visuomotor Policy for Dexterous Manipulation in Real-Worldcited by 18
  4. 2025When Robots Should Say "I Don't Know": Benchmarking Abstention in Embodied Question Answeringcited by 10
  5. 2025GarmentPile: Point-Level Visual Affordance Guided Retrieval and Adaptation for Cluttered Garments Manipulationcited by 9
  6. 2024DeformPAM: Data-Efficient Learning for Long-horizon Deformable Object Manipulation via Preference-based Action Alignmentcited by 7
  7. 2024EqvAfford: SE(3) Equivariance for Point-Level Affordance Learningcited by 6
  8. 2025BiAssemble: Learning Collaborative Affordance for Bimanual Geometric Assemblycited by 5
  9. 2025Reactive In-Air Clothing Manipulation with Confidence-Aware Dense Correspondence and Visuotactile Affordancecited by 4
  10. 2025One-Shot Affordance Grounding of Deformable Objects in Egocentric Organizing Scenescited by 3
  11. 2025GraphGarment: Learning Garment Dynamics for Bimanual Cloth Manipulation Taskscited by 3
  12. 2026A3D: Adaptive Affordance Assembly with Dual-Arm Manipulationcited by 3
11 more
  1. 2026Instant-Fold: In-Context Imitation Learning for Deformable Object Manipulationcited by 2
  2. 2024SKT: Integrating State-Aware Keypoint Trajectories with Vision-Language Models for Robotic Garment Manipulationcited by 1
  3. 2025CLASP: General-Purpose Clothes Manipulation with Semantic Keypointscited by 1
  4. 2026GarmentPile++: Affordance-Driven Cluttered Garments Retrieval with Vision-Language Reasoningcited by 1
  5. 2024Human-centered In-building Embodied Delivery Benchmarkcited by 0
  6. 2025SpikePingpong: Spike Vision-based Fast-Slow Pingpong Robot Systemcited by 0
  7. 2025FCBV-Net: Category-Level Robotic Garment Smoothing via Feature-Conditioned Bimanual Value Predictioncited by 0
  8. 2026TRACER: Texture-Robust Affordance Chain-of-Thought for Deformable-Object Refinementcited by 0
  9. 2026DexKnot: Generalizable Visuomotor Policy Learning for Dexterous Bag-Knotting Manipulationcited by 0
  10. 2026HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactionscited by 0
  11. 2026ClothAtlas: Joint Garment Identification and State Estimation under Self-Occlusioncited by 0