{"ID":2874465,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.03889","arxiv_id":"2509.03889","title":"Reactive In-Air Clothing Manipulation with Confidence-Aware Dense Correspondence and Visuotactile Affordance","abstract":"Manipulating clothing is challenging due to complex configurations, variable material dynamics, and frequent self-occlusion. Prior systems often flatten garments or assume visibility of key features. We present a dual-arm visuotactile framework that combines confidence-aware dense visual correspondence and tactile-supervised grasp affordance to operate directly on crumpled and suspended garments. The correspondence model is trained on a custom, high-fidelity simulated dataset using a distributional loss that captures cloth symmetries and generates correspondence confidence estimates. These estimates guide a reactive state machine that adapts folding strategies based on perceptual uncertainty. In parallel, a visuotactile grasp affordance network, self-supervised using high-resolution tactile feedback, determines which regions are physically graspable. The same tactile classifier is used during execution for real-time grasp validation. By deferring action in low-confidence states, the system handles highly occluded table-top and in-air configurations. We demonstrate our task-agnostic grasp selection module in folding and hanging tasks. Moreover, our dense descriptors provide a reusable intermediate representation for other planning modalities, such as extracting grasp targets from human video demonstrations, paving the way for more generalizable and scalable garment manipulation.","short_abstract":"Manipulating clothing is challenging due to complex configurations, variable material dynamics, and frequent self-occlusion. Prior systems often flatten garments or assume visibility of key features. We present a dual-arm visuotactile framework that combines confidence-aware dense visual correspondence and tactile-supe...","url_abs":"https://arxiv.org/abs/2509.03889","url_pdf":"https://arxiv.org/pdf/2509.03889v1","authors":"[\"Neha Sunil\",\"Megha Tippur\",\"Arnau Saumell\",\"Edward Adelson\",\"Alberto Rodriguez\"]","published":"2025-09-04T05:16:56Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.AI\",\"cs.LG\"]","methods":"[]","has_code":false}