A FiLM-conditioned ACT policy with multi-modal phase prediction raises dual-arm T-shirt hanging success from 56% to 87% via autonomous failure recovery.
Graph- garment: Learning garment dynamics for bimanual cloth manipulation tasks,
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Phase-Conditioned Imitation Learning with Autonomous Failure Recovery for Robust Deformable Object Manipulation
A FiLM-conditioned ACT policy with multi-modal phase prediction raises dual-arm T-shirt hanging success from 56% to 87% via autonomous failure recovery.