{"id":"https://openalex.org/W4392373572","doi":"https://doi.org/10.1017/s0263574724000250","title":"FabricFolding: learning efficient fabric folding without expert demonstrations","display_name":"FabricFolding: learning efficient fabric folding without expert demonstrations","publication_year":2024,"publication_date":"2024-03-04","ids":{"openalex":"https://openalex.org/W4392373572","doi":"https://doi.org/10.1017/s0263574724000250"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574724000250","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724000250","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/8335CCF9C0F9931A2BA957C9D5A9F5BB/S0263574724000250a.pdf/div-class-title-fabricfolding-learning-efficient-fabric-folding-without-expert-demonstrations-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/8335CCF9C0F9931A2BA957C9D5A9F5BB/S0263574724000250a.pdf/div-class-title-fabricfolding-learning-efficient-fabric-folding-without-expert-demonstrations-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033285394","display_name":"Can Zhong He","orcid":"https://orcid.org/0009-0000-3385-0333"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I4210092870","display_name":"Jiaxing University","ror":"https://ror.org/00j2a7k55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092870"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Can He","raw_affiliation_strings":["Jiaxing Research Institute, Southern University of Science and Technology Jiaxing, China","Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0000-3385-0333","affiliations":[{"raw_affiliation_string":"Jiaxing Research Institute, Southern University of Science and Technology Jiaxing, China","institution_ids":["https://openalex.org/I4210092870","https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080601508","display_name":"Lingxiao Meng","orcid":"https://orcid.org/0009-0006-3604-0356"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingxiao Meng","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071763210","display_name":"Zhirui Sun","orcid":"https://orcid.org/0009-0009-4977-1969"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I4210092870","display_name":"Jiaxing University","ror":"https://ror.org/00j2a7k55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092870"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhirui Sun","raw_affiliation_strings":["Jiaxing Research Institute, Southern University of Science and Technology Jiaxing, China","Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0009-4977-1969","affiliations":[{"raw_affiliation_string":"Jiaxing Research Institute, Southern University of Science and Technology Jiaxing, China","institution_ids":["https://openalex.org/I4210092870","https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043461784","display_name":"Jiankun Wang","orcid":"https://orcid.org/0000-0001-9139-0291"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I4210092870","display_name":"Jiaxing University","ror":"https://ror.org/00j2a7k55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092870"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiankun Wang","raw_affiliation_strings":["Jiaxing Research Institute, Southern University of Science and Technology Jiaxing, China","Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-9139-0291","affiliations":[{"raw_affiliation_string":"Jiaxing Research Institute, Southern University of Science and Technology Jiaxing, China","institution_ids":["https://openalex.org/I4210092870","https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Robotics Perception and Intelligence, Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5021531143","https://openalex.org/A5043461784"],"corresponding_institution_ids":["https://openalex.org/I3045169105","https://openalex.org/I4210092870"],"apc_list":null,"apc_paid":null,"fwci":3.53,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.92844524,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"42","issue":"4","first_page":"1281","last_page":"1296"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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":0.9884999990463257,"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"}},{"id":"https://openalex.org/T10789","display_name":"Interactive and Immersive Displays","score":0.9836000204086304,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/folding","display_name":"Folding (DSP implementation)","score":0.7640440464019775},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6528372764587402},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5812257528305054},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5725890398025513},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5072293281555176},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46541881561279297},{"id":"https://openalex.org/keywords/drag","display_name":"Drag","score":0.46304944157600403},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.324054479598999},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2599004805088043},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.24776288866996765},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10886922478675842},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09932583570480347}],"concepts":[{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.7640440464019775},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6528372764587402},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5812257528305054},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5725890398025513},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5072293281555176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46541881561279297},{"id":"https://openalex.org/C72921944","wikidata":"https://www.wikidata.org/wiki/Q206621","display_name":"Drag","level":2,"score":0.46304944157600403},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.324054479598999},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2599004805088043},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.24776288866996765},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10886922478675842},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09932583570480347},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574724000250","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724000250","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/8335CCF9C0F9931A2BA957C9D5A9F5BB/S0263574724000250a.pdf/div-class-title-fabricfolding-learning-efficient-fabric-folding-without-expert-demonstrations-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1017/s0263574724000250","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574724000250","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/8335CCF9C0F9931A2BA957C9D5A9F5BB/S0263574724000250a.pdf/div-class-title-fabricfolding-learning-efficient-fabric-folding-without-expert-demonstrations-div.pdf","source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392373572.pdf","grobid_xml":"https://content.openalex.org/works/W4392373572.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1604341262","https://openalex.org/W1762443324","https://openalex.org/W1901129140","https://openalex.org/W2089630413","https://openalex.org/W2105537999","https://openalex.org/W2530616813","https://openalex.org/W2558355904","https://openalex.org/W2587765586","https://openalex.org/W2808844346","https://openalex.org/W2925288829","https://openalex.org/W2963394817","https://openalex.org/W2973439545","https://openalex.org/W3016361525","https://openalex.org/W3040477237","https://openalex.org/W3091544428","https://openalex.org/W3092247831","https://openalex.org/W3099815795","https://openalex.org/W3105162718","https://openalex.org/W3122404891","https://openalex.org/W3130633756","https://openalex.org/W3132971170","https://openalex.org/W3160566238","https://openalex.org/W3184955535","https://openalex.org/W3191702436","https://openalex.org/W3205146762","https://openalex.org/W3207427042","https://openalex.org/W3209769444","https://openalex.org/W4226098973","https://openalex.org/W4280654036","https://openalex.org/W4281765718","https://openalex.org/W4285021310","https://openalex.org/W4312610897","https://openalex.org/W4312865075","https://openalex.org/W4312901240","https://openalex.org/W4313048393","https://openalex.org/W4366986911","https://openalex.org/W4383109001","https://openalex.org/W6790501369"],"related_works":["https://openalex.org/W3019598374","https://openalex.org/W189741","https://openalex.org/W4389482429","https://openalex.org/W2242995739","https://openalex.org/W1491894219","https://openalex.org/W2037616569","https://openalex.org/W2069582719","https://openalex.org/W3135537202","https://openalex.org/W4280534975","https://openalex.org/W2115304080"],"abstract_inverted_index":{"Abstract":[0],"Autonomous":[1],"fabric":[2,16,31,89,133,139,172,186],"manipulation":[3,23,95],"is":[4,97,129,134,148],"a":[5,27,181,243,249],"challenging":[6,224],"task":[7],"due":[8],"to":[9,84,117,179,191],"complex":[10],"dynamics":[11],"and":[12,29,48,109,113,123,137,174,214,217,248,260],"potential":[13],"self-occlusion":[14],"during":[15],"handling.":[17],"An":[18],"intuitive":[19],"method":[20,241],"of":[21,41,88,158,170,196,204,221,233,246,252],"fabric-folding":[22,152],"first":[24],"involves":[25],"obtaining":[26],"smooth":[28,124],"unfolded":[30,122,136],"configuration":[32],"before":[33],"the":[34,39,65,132,143,151,156,193,202,237],"folding":[35,146],"process":[36],"begins.":[37],"However,":[38],"combination":[40],"quasi-static":[42,76,104],"actions":[43,116],"like":[44,51],"pick":[45,79,106,110],"&":[46,80,107,111],"place":[47,108],"dynamic":[49,114],"action":[50,77],"fling":[52,115],"proves":[53],"inadequate":[54],"in":[55,99,176,208],"effectively":[56],"unfolding":[57],"long-sleeved":[58,228,255],"T-shirts":[59,229,256],"with":[60,230],"sleeves":[61,234],"mostly":[62],"tucked":[63,235],"inside":[64,236],"garment.":[66,238],"To":[67,154],"address":[68,155],"this":[69,71,86,100],"limitation,":[70],"paper":[72],"introduces":[73],"an":[74,92],"enhanced":[75],"called":[78],"drag,":[81],"specifically":[82],"designed":[83,98],"handle":[85],"type":[87],"configuration.":[90],"Additionally,":[91],"efficient":[93],"dual-arm":[94],"system":[96,207],"paper,":[101],"which":[102],"combines":[103],"(including":[105],"drag)":[112],"flexibly":[118],"manipulate":[119],"fabrics":[120],"into":[121],"configurations.":[125],"Subsequently,":[126],"once":[127],"it":[128,212],"confirmed":[130],"that":[131],"sufficiently":[135],"all":[138],"keypoints":[140],"are":[141,262],"detected,":[142],"keypoint-based":[144],"heuristic":[145],"algorithm":[147],"employed":[149],"for":[150,164,185,254],"process.":[153],"scarcity":[157],"publicly":[159],"available":[160,263],"keypoint":[161,183,197],"detection":[162],"datasets":[163],"real":[165,177],"fabric,":[166],"we":[167,200],"gathered":[168],"images":[169],"various":[171,219],"configurations":[173],"types":[175,220],"scenes":[178],"create":[180],"comprehensive":[182],"dataset":[184,189,261],"folding.":[187,257],"This":[188],"aims":[190],"enhance":[192],"success":[194,250],"rate":[195,245,251],"detection.":[198],"Moreover,":[199],"evaluate":[201],"effectiveness":[203],"our":[205,240,265],"proposed":[206],"real-world":[209],"settings,":[210],"where":[211],"consistently":[213],"reliably":[215],"unfolds":[216],"folds":[218],"fabrics,":[222],"including":[223],"situations":[225],"such":[226],"as":[227],"most":[231],"parts":[232],"Specifically,":[239],"achieves":[242],"coverage":[244],"0.822":[247],"0.88":[253],"Supplemental":[258],"materials":[259],"on":[264],"project":[266],"webpage":[267],"at":[268],"https://sites.google.com/view/fabricfolding":[269],".":[270]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}