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A Virtual Reality Framework for Human-Robot Collaboration in Cloth Folding
KTH, Skolan för elektroteknik och datavetenskap (EECS), Intelligenta system, Robotik, perception och lärande, RPL.ORCID-id: 0000-0001-5700-684x
KTH, Skolan för elektroteknik och datavetenskap (EECS), Intelligenta system, Robotik, perception och lärande, RPL.ORCID-id: 0000-0002-3432-6151
KTH, Skolan för elektroteknik och datavetenskap (EECS), Intelligenta system, Robotik, perception och lärande, RPL.ORCID-id: 0000-0003-3827-3824
KTH, Skolan för elektroteknik och datavetenskap (EECS), Intelligenta system, Robotik, perception och lärande, RPL.ORCID-id: 0000-0003-2965-2953
2023 (engelsk)Inngår i: 2023 IEEE-RAS 22nd International Conference on Humanoid Robots, IEEE, 2023Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We present a virtual reality (VR) framework to automate the data collection process in cloth folding tasks. The framework uses skeleton representations to help the user define the folding plans for different classes of garments, allowing for replicating the folding on unseen items of the same class. We evaluate the framework in the context of automating garment folding tasks. A quantitative analysis is performed on three classes of garments, demonstrating that the framework reduces the need for intervention by the user. We also compare skeleton representations with RGB images in a classification task on a large dataset of clothing items, motivating the use of the proposed framework for other classes of garments.

sted, utgiver, år, opplag, sider
IEEE, 2023.
Serie
IEEE-RAS International Conference on Humanoid Robots, ISSN 2164-0572
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-344957DOI: 10.1109/HUMANOIDS57100.2023.10375184ISI: 001156965200045Scopus ID: 2-s2.0-85164729488OAI: oai:DiVA.org:kth-344957DiVA, id: diva2:1849567
Konferanse
IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), DEC 12-14, 2023, Austin, TX
Merknad

QC 20240408

Part of ISBN 979-8-3503-0327-8

Tilgjengelig fra: 2024-04-08 Laget: 2024-04-08 Sist oppdatert: 2024-04-08bibliografisk kontrollert

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Moletta, MarcoWozniak, Maciej K.Welle, Michael C.Kragic, Danica

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