{"id":"https://openalex.org/W3163951069","doi":"https://doi.org/10.48550/arxiv.2105.10389","title":"Learning Visible Connectivity Dynamics for Cloth Smoothing","display_name":"Learning Visible Connectivity Dynamics for Cloth Smoothing","publication_year":2021,"publication_date":"2021-05-21","ids":{"openalex":"https://openalex.org/W3163951069","doi":"https://doi.org/10.48550/arxiv.2105.10389","mag":"3163951069"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2105.10389","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.10389","pdf_url":"https://arxiv.org/pdf/2105.10389","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2105.10389","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103223385","display_name":"Xingyu Lin","orcid":"https://orcid.org/0000-0002-2454-2520","observed_orcids":["https://orcid.org/0000-0002-2454-2520"]},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lin, Xingyu","raw_affiliation_strings":["Robotics Institute Carnegie Mellon University","Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100374840","display_name":"Yufei Wang","orcid":"https://orcid.org/0000-0003-3016-6389","observed_orcids":["https://orcid.org/0000-0003-3016-6389"]},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wang, Yufei","raw_affiliation_strings":["Robotics Institute Carnegie Mellon University","Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Huang, Zixuan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huang, Zixuan","raw_affiliation_strings":["Robotics Institute Carnegie Mellon University","Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5133597454","display_name":"David Held","orcid":"https://orcid.org/0000-0003-0537-1508","observed_orcids":["https://orcid.org/0000-0003-0537-1508"]},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Held, David","raw_affiliation_strings":["Robotics Institute Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":61,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.7509999871253967,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.7509999871253967,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.22630000114440918,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.007899999618530273,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cloth-manipulation","display_name":"fabric manipulation","score":0.8679999709129333},{"id":"https://openalex.org/keywords/robotic-manipulation","display_name":"robotic manipulation","score":0.6579999923706055},{"id":"https://openalex.org/keywords/sim-to-real-transfer","display_name":"sim-to-real transfer","score":0.9179999828338623},{"id":"https://openalex.org/keywords/zero-shot-transfer","display_name":"zero-shot transfer","score":0.656000018119812}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6699255704879761},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5683215260505676},{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.5403414964675903},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.5195103883743286},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4735676050186157},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.46692487597465515},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4563082754611969},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4432610273361206},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41639381647109985},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3558623790740967},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31052613258361816},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15069830417633057},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09458577632904053},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:arXiv.org:2105.10389","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.10389","pdf_url":"https://arxiv.org/pdf/2105.10389","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3163951069","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.10389","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2105.10389","doi":"https://doi.org/10.48550/arxiv.2105.10389","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2105.10389","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2105.10389","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.10389","pdf_url":"https://arxiv.org/pdf/2105.10389","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G7337966973","display_name":"CAREER: Self-supervised Representation Learning for Deformable Object Manipulation","funder_award_id":"2046491","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320329803","display_name":"LG Electronics","ror":"https://ror.org/03ddh2c27"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W34950630","https://openalex.org/W52100253","https://openalex.org/W121640243","https://openalex.org/W1522301498","https://openalex.org/W1595452285","https://openalex.org/W1604341262","https://openalex.org/W1835970198","https://openalex.org/W2032200462","https://openalex.org/W2067449506","https://openalex.org/W2086210210","https://openalex.org/W2089630413","https://openalex.org/W2105537999","https://openalex.org/W2112961542","https://openalex.org/W2132836675","https://openalex.org/W2158292574","https://openalex.org/W2167049518","https://openalex.org/W2551887912","https://openalex.org/W2805516822","https://openalex.org/W2895524695","https://openalex.org/W2902125520","https://openalex.org/W2963240617","https://openalex.org/W2963504951","https://openalex.org/W3005637401","https://openalex.org/W3012514211","https://openalex.org/W3028831193","https://openalex.org/W3034329572","https://openalex.org/W3034655405","https://openalex.org/W3039258510","https://openalex.org/W3040477237","https://openalex.org/W3096471888","https://openalex.org/W3104876774","https://openalex.org/W3105162718","https://openalex.org/W3114937401","https://openalex.org/W3118902573","https://openalex.org/W3119523940","https://openalex.org/W3132971170","https://openalex.org/W3140471164","https://openalex.org/W3207427042","https://openalex.org/W3210015522"],"related_works":["https://openalex.org/W3199297537","https://openalex.org/W7126226053","https://openalex.org/W4409494146","https://openalex.org/W7127313508","https://openalex.org/W2215479383","https://openalex.org/W2982652729","https://openalex.org/W4281765718","https://openalex.org/W6967049619","https://openalex.org/W4416078148","https://openalex.org/W3135298480"],"abstract_inverted_index":{"Robotic":[0],"manipulation":[1],"of":[2,13,17,60,167],"cloth":[3,73,106,168],"remains":[4],"challenging":[5],"for":[6,102],"robotics":[7],"due":[8],"to":[9,26,44,87,111],"the":[10,14,58,71,104,115,148,160],"complex":[11],"dynamics":[12,34,48,79],"cloth,":[15],"lack":[16],"a":[18,32,37,46,51,78,154],"low-dimensional":[19],"state":[20],"representation,":[21],"and":[22,114,132,157],"self-occlusions.":[23],"In":[24],"contrast":[25],"previous":[27,88,129],"model-based":[28,131],"approaches":[29],"that":[30,124,159],"learn":[31,45,77],"pixel-based":[33],"model":[35,49,80,92,149,161],"or":[36],"compressed":[38],"latent":[39],"vector":[40],"dynamics,":[41],"we":[42,63,140,146],"propose":[43],"particle-based":[47],"from":[50,169],"partial":[52,61],"point":[53],"cloud":[54],"observation.":[55],"To":[56],"overcome":[57],"challenges":[59],"observability,":[62],"infer":[64],"which":[65],"visible":[66,83],"points":[67],"are":[68],"connected":[69],"on":[70,153,176],"underlying":[72,105],"mesh.":[74],"We":[75,122],"then":[76],"over":[81],"this":[82],"connectivity":[84],"graph.":[85],"Compared":[86],"learning-based":[89],"approaches,":[90],"our":[91,125,177],"poses":[93],"strong":[94],"inductive":[95],"bias":[96],"with":[97],"its":[98],"particle":[99],"based":[100],"representation":[101],"learning":[103,135],"physics;":[107],"it":[108],"is":[109],"invariant":[110],"visual":[112],"features;":[113],"predictions":[116],"can":[117,162,173],"be":[118,174],"more":[119],"easily":[120],"visualized.":[121],"show":[123,158],"method":[126],"greatly":[127],"outperforms":[128],"state-of-the-art":[130],"model-free":[133],"reinforcement":[134],"methods":[136],"in":[137,151],"simulation.":[138],"Furthermore,":[139],"demonstrate":[141],"zero-shot":[142],"sim-to-real":[143],"transfer":[144],"where":[145],"deploy":[147],"trained":[150],"simulation":[152],"Franka":[155],"arm":[156],"successfully":[163],"smooth":[164],"different":[165],"types":[166],"crumpled":[170],"configurations.":[171],"Videos":[172],"found":[175],"project":[178],"website.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":16}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2021-06-07T00:00:00"}
