{"paper":{"title":"UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Folding","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":["cs.AI","cs.CV"],"primary_cat":"cs.RO","authors_text":"Cewu Lu, Dongzhe Zheng, Han Xue, Huanyu Li, Wenqiang Xu, Yutong Li","submitted_at":"2023-11-02T14:25:10Z","abstract_excerpt":"This paper explores the development of UniFolding, a sample-efficient, scalable, and generalizable robotic system for unfolding and folding various garments. UniFolding employs the proposed UFONet neural network to integrate unfolding and folding decisions into a single policy model that is adaptable to different garment types and states. The design of UniFolding is based on a garment's partial point cloud, which aids in generalization and reduces sensitivity to variations in texture and shape. The training pipeline prioritizes low-cost, sample-efficient data collection. Training data is colle"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2311.01267","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2311.01267/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}