Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning

Robotic learning for deformable object manipulation—such as textiles—is often done in simulation due to the current limitation of perception methods to understand cloth’s deformation. For this reason, the robotics community is always on the search for more realistic simulators to reduce as much as p...

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Autores: Coltraro, Franco|||0000-0002-9149-950X, Borràs Sol, Júlia, Alberich Carramiñana, Maria|||0000-0003-2749-4875, Torras, Carme|||0000-0002-2933-398X
Tipo de recurso: artículo
Fecha de publicación:2025
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:dnet:upcommonspor::2e14399f3f1c764300ef4b3672bb8017
Acceso en línea:https://hdl.handle.net/2117/461017
https://dx.doi.org/10.1177/02783649251317617
Access Level:acceso abierto
Palabra clave:Cloth manipulation
real datasets
robotic learning
motion capture
cloth simulation
sim-to-real gap
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learningColtraro, Franco|||0000-0002-9149-950XBorràs Sol, JúliaAlberich Carramiñana, Maria|||0000-0003-2749-4875Torras, Carme|||0000-0002-2933-398XCloth manipulationreal datasetsrobotic learningmotion capturecloth simulationsim-to-real gapClassificació INSPEC::Automation::RobotsÀrees temàtiques de la UPC::Informàtica::RobòticaRobotic learning for deformable object manipulation—such as textiles—is often done in simulation due to the current limitation of perception methods to understand cloth’s deformation. For this reason, the robotics community is always on the search for more realistic simulators to reduce as much as possible the sim-to-real gap, which is still quite large especially when dynamic motions are applied. We present a cloth dataset consisting of 120 high-quality recordings of several textiles during dynamic motions. Using a Motion Capture System, we record the location of key-points on the cloth surface of four types of fabrics (cotton, denim, wool and polyester) of two sizes and at different speeds. The scenarios considered are all dynamic and involve rapid shaking and twisting of the textiles, collisions with frictional objects, strong hits with a long and thin rigid object and even self-collisions. We explain in detail the scenarios considered, the collected data and how to read it and use it. In addition, we propose a metric to use the dataset as a benchmark to quantify the sim-to-real gap of any cloth simulator. Finally, we show that the recorded trajectories can be directly executed by a robotic arm, enabling learning by demonstration and other imitation learning techniques.The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by the Consejo Superior de Investigaciones Científicas (Momentum project MMT24-IRII-01 and ClothIRI: CSIC project 202350E080), Agència de Gestió d’Ajuts Universitaris i de Recerca (2021 SGR 00603 Geometry of Manifolds and Applications and SGR RobIRI 2021 SGR 00514), Agencia Estatal de Investigación (AEI/10.13039/501100011033 grant PID2019-103849GB-I) and (PID2020-118649RB-I00(CHLOE-GRAPH) funded by MCINAEI).Peer Reviewed9 - Indústria, Innovació i Infraestructura20252025-08-0120262026-04-27journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/461017https://dx.doi.org/10.1177/02783649251317617reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)InglésengAgencia Estatal de Investigación http://doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2020-118649RB-I00 AGARRE, REPRESENTACION Y PLANIFICACION DE ACCIONES CON OBJETOS TIPO TELAAgencia Estatal de Investigación http://doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2019-103849GB-I00 GEOMETRIA, ALGEBRA, TOPOLOGIA Y APLICACIONES MULTIDISCIPLINARESopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial 4.0 Internationalhttp://creativecommons.org/licenses/by-nc/4.0/info:eu-repo/semantics/openAccessoai:dnet:upcommonspor::2e14399f3f1c764300ef4b3672bb80172026-05-27T15:37:01Z
dc.title.none.fl_str_mv Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning
title Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning
spellingShingle Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning
Coltraro, Franco|||0000-0002-9149-950X
Cloth manipulation
real datasets
robotic learning
motion capture
cloth simulation
sim-to-real gap
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning
title_full Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning
title_fullStr Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning
title_full_unstemmed Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning
title_sort Tracking cloth deformation: a novel dataset for closing the sim-to-real gap for robotic cloth manipulation learning
dc.creator.none.fl_str_mv Coltraro, Franco|||0000-0002-9149-950X
Borràs Sol, Júlia
Alberich Carramiñana, Maria|||0000-0003-2749-4875
Torras, Carme|||0000-0002-2933-398X
author Coltraro, Franco|||0000-0002-9149-950X
author_facet Coltraro, Franco|||0000-0002-9149-950X
Borràs Sol, Júlia
Alberich Carramiñana, Maria|||0000-0003-2749-4875
Torras, Carme|||0000-0002-2933-398X
author_role author
author2 Borràs Sol, Júlia
Alberich Carramiñana, Maria|||0000-0003-2749-4875
Torras, Carme|||0000-0002-2933-398X
author2_role author
author
author
dc.subject.none.fl_str_mv Cloth manipulation
real datasets
robotic learning
motion capture
cloth simulation
sim-to-real gap
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Cloth manipulation
real datasets
robotic learning
motion capture
cloth simulation
sim-to-real gap
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
description Robotic learning for deformable object manipulation—such as textiles—is often done in simulation due to the current limitation of perception methods to understand cloth’s deformation. For this reason, the robotics community is always on the search for more realistic simulators to reduce as much as possible the sim-to-real gap, which is still quite large especially when dynamic motions are applied. We present a cloth dataset consisting of 120 high-quality recordings of several textiles during dynamic motions. Using a Motion Capture System, we record the location of key-points on the cloth surface of four types of fabrics (cotton, denim, wool and polyester) of two sizes and at different speeds. The scenarios considered are all dynamic and involve rapid shaking and twisting of the textiles, collisions with frictional objects, strong hits with a long and thin rigid object and even self-collisions. We explain in detail the scenarios considered, the collected data and how to read it and use it. In addition, we propose a metric to use the dataset as a benchmark to quantify the sim-to-real gap of any cloth simulator. Finally, we show that the recorded trajectories can be directly executed by a robotic arm, enabling learning by demonstration and other imitation learning techniques.
publishDate 2025
dc.date.none.fl_str_mv 2025
2025-08-01
2026
2026-04-27
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/461017
https://dx.doi.org/10.1177/02783649251317617
url https://hdl.handle.net/2117/461017
https://dx.doi.org/10.1177/02783649251317617
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Agencia Estatal de Investigación http://doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2020-118649RB-I00 AGARRE, REPRESENTACION Y PLANIFICACION DE ACCIONES CON OBJETOS TIPO TELA
Agencia Estatal de Investigación http://doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020 PID2019-103849GB-I00 GEOMETRIA, ALGEBRA, TOPOLOGIA Y APLICACIONES MULTIDISCIPLINARES
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial 4.0 International
http://creativecommons.org/licenses/by-nc/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial 4.0 International
http://creativecommons.org/licenses/by-nc/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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