FoldBack: Self-Correcting Masked Generative Policy for Long-Horizon Garment Folding
[Robotyka] Autorzy: Lipeng Zhuang, Shiyu Fan, Yingdong Ru i 4 więcej
We present FoldBack, a self-correcting masked generative policy for long-horizon garment folding. Existing long-trajectory policies may continue after a missed or slipped grasp even when the garment has not reached the intended configuration. We structure FoldBack's recovery mechanisms around three inference-time decisions: when to refine and verify, how to roll back, and where and how to retry. FoldBack aligns refinement and grasp verification with pick-and-place events, returns the robot to a retryable pre-grasp configuration while preserving successful grasps, and selectively regenerates the failed segment and selected future actions while avoiding previous failed grasp locations. To our knowledge, FoldBack is the first editable full-trajectory policy to unify these decisions, enabling failed interactions to be detected, undone, and repaired before execution continues, without recove…
- Kategoria arxiv
- cs.RO
- Kategoria
- Robotyka