mlsanityData to 7 Oct 2026

CloSE: A Geometric Shape-Agnostic Cloth State Representation

arXiv 2504.05033 ↗First posted 7 Apr 2025cs.RO cs.CVcited by 0

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Abstract (arXiv)

Cloth manipulation is a difficult problem mainly because of the non-rigid nature of cloth, which makes a good representation of deformation essential. We present a new representation for the deformation-state of clothes. First, we propose the dGLI disk representation based on topological indices computed for edge segments of the cloth border that are arranged on a circular grid. The heat-map of the dGLI disk uncovers patterns that correspond to features of the cloth state that are consistent for different shapes, sizes or orientation of the cloth. We then abstract these important features from the dGLI disk into a circle, calling it the Cloth StatE representation (CloSE). This representation is compact, continuous, and general for different shapes. We show that this representation is able to accurately predict the fold locations for several simulation clothing datasets. Finally, we also show the strengths of this representation in two relevant applications: semantic labeling and high- and low-level planning. The code and the dataset can be accessed from: https://close-representation.github.io/

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 26 of its 80 references that are in the map. First posted on arXiv 7 Apr 2025.

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References · 26

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