mlsanityData to 14 Oct 2026

ClothCode: Generative Modeling for Garment State Estimation and Dynamics Prediction

arXiv 2610.14200 ↗First posted 9 Oct 2026cs.RO cs.CVcited by 0

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Abstract (arXiv)

We introduce ClothCode, a unified generative framework for garment state estimation and action-conditioned dynamics prediction in a shared discrete configuration space. A material-aligned tokenizer encodes garment configuration as residual vector-quantized patch tokens, while task-specific Masked Generative Transformers predict these tokens through parallel confidence-guided refinement. Across three garment templates, ClothCode reduces mean displacement error by 26.6% for state estimation and 37.0% for dynamics prediction relative to the strongest baselines. Dynamics prediction requires only 16.7 ms per window, compared with 556.2 ms for diffusion. Integrated into the same model-predictive controller, ClothCode improves real-world folding and flattening success from 56.7% to 78.9%. Further results and videos are available at: https://anonymous.4open.science/r/ClothCode-DE32

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 26 of its 30 references that are in the map. First posted on arXiv 9 Oct 2026.

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References · 26

  1. 2017Attention Is All You Needcited by 60,361
  2. 2022Scalable Diffusion Models with Transformerscited by 6,054
  3. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  4. 2017Neural Discrete Representation Learningcited by 4,712
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  6. 2024SAM 2: Segment Anything in Images and Videoscited by 2,863
  7. 2020Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domainscited by 2,200
  8. 2022MaskGIT: Masked Generative Image Transformercited by 1,099
  9. 2020Learning Mesh-Based Simulation with Graph Networkscited by 868
  10. 2022Autoregressive Image Generation using Residual Quantizationcited by 722
  11. 2023Muse: Text-To-Image Generation via Masked Generative Transformerscited by 648
  12. 2023MoMask: Generative Masked Modeling of 3D Human Motionscited by 400
14 more
  1. 2022MAGVIT: Masked Generative Video Transformercited by 346
  2. 2023Scaling Open-Vocabulary Object Detectioncited by 343
  3. 2025PhysTwin: Physics-Informed Reconstruction and Simulation of Deformable Objects from Videoscited by 87
  4. 2022RoboCraft: Learning to See, Simulate, and Shape Elasto-Plastic Objects with Graph Networkscited by 72
  5. 2021Learning Visible Connectivity Dynamics for Cloth Smoothingcited by 62
  6. 2024AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulationcited by 54
  7. 2021GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completioncited by 43
  8. 2022Mesh-based Dynamics with Occlusion Reasoning for Cloth Manipulationcited by 34
  9. 2025Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videoscited by 25
  10. 2025Diffusion Dynamics Models with Generative State Estimation for Cloth Manipulationcited by 19
  11. 2024Unfolding the Literature: A Review of Robotic Cloth Manipulationcited by 17
  12. 2022Semantic State Estimation in Cloth Manipulation Taskscited by 3
  13. 2025Masked Generative Policy for Robotic Controlcited by 3
  14. 2026ClothTransformer: Unified Latent-Space Transformers for Scalable Cloth Simulationcited by 3

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