Same Action, Different Outcome: Variability in Dynamic Cloth Manipulation

arXiv:2610.10801 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Code: https://github.com/Genesis-Embodied-AI/Genesis

Project page: https://cloth-var.github.io

Terminology

• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Sim-to-Real Gap — 2× in this paper · explained in 6 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Aleatoric Uncertainty — 1× in this paper · explained in 4 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Conference on Robot Learning — 1× in this paper
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Epistemic Uncertainty — 1× in this paper · explained in 9 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes

Sources

• SAM 2: Segment Anything in Images and Videos
• DINOv3

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