外观
论文arXiv 2610.1080121 天前
相同动作，不同结果：动态布料操作中的变异性
原文链接：Same Action, Different Outcome: Variability in Dynamic Cloth Manipulation（arXiv 2610.10801 · 发布日期：2026-10-07）
Same Action, Different Outcome: Variability in Dynamic Cloth Manipulation
论文通过重复执行同一轨迹并设计变异性指标，系统评估动态布料操作在真实布料和模拟器中的结果差异。
核心要点
- 动机：相同快速动态轨迹会导致布料结果不同，但此前缺乏系统量化表征。
- 方法：在四个动态任务中重复同一轨迹，记录布料标记点、同步双目相机与机器人日志。
- 结果：所有测试条件下变异性显著，多数比机器人重复性和感知噪声高一到三个数量级。
- 开源：发布含OptiTrack、视觉、机器人日志及对应模拟器孪生的数据集。
验证范围与局限：验证范围为四个动态任务、三种布料、最多三种执行速度、269次真实记录，并在四个校准布料模拟器中回放。
英文摘要 (Abstract)
Although cloth is known to exhibit different outcomes under repeated fast dynamic motions, even when the same trajectory is applied, this variability has not yet been systematically characterized. Quantifying it is essential to assess the reliability of learned manipulation policies and the extent to which simulation can reproduce real-world behavior. To study this, we execute the same trajectory ten times across four dynamic tasks, two of which are novel, each tested with three cloths of very different properties and at up to three execution speeds, with a total of 269 recorded rollouts. For all of them, we record small marker positions on the cloth and synchronized stereo camera. We then formalize different metrics to quantify variability, and our results show how it is significant in every test condition, in most cases one to three orders of magnitude above the repeatability inherent to the robot and sensing noise. Our results also show variability is driven mainly by the cloth physical properties but also grows with speed. By replaying all the rollouts in four calibrated modern cloth simulators, we show that none of them can reproduce the variability magnitude we observed in real cloth, nor its ordering. Together with our analysis, we publish the dataset with synchronized OptiTrack, vision and robot logs and their corresponding simulator twins.
作者：Mahed Dadgostar, Guillem Alenyà, Júlia Borràs
来源
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