Vision-Based 6-DoF Grasp Pose Estimation for Robot Cloth Unfolding

arXiv:2609.31452 · cs.RO, cs.CV · Submitted 2026-09-25 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-25

Updated: 2026-09-25

Code: https://github.com/minseo10/cloth

Terminology

• Benchmark — 15× in this paper · explained in 2 episodes
• Ablation — 9× in this paper · explained in 1 episode
• Ablation study — 9× in this paper · explained in 1 episode
• RAG — 6× in this paper · explained in 3 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Affordance — 3× in this paper · explained in 1 episode
• Benchmarking — 3× in this paper · explained in 3 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Alignment — 2× in this paper · explained in 1 episode
• Calibration — 2× in this paper · explained in 7 episodes
• F1 Score — 2× in this paper · explained in 3 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Segmentation Masks — 2× in this paper · explained in 2 episodes
• 6D Object Pose Estimation — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Bayesian Inference — 1× in this paper · explained in 5 episodes
• Bradley-Terry model — 1× in this paper · explained in 2 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Feature Pyramid Network — 1× in this paper
• Multimodal Learning — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Learning to unfold cloth: Scaling up world models to deformable object manipulation
• Reactive In-Air Clothing Manipulation with Confidence-Aware Dense Correspondence and Visuotactile Affordance

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