CloSE: A Geometric Shape-Agnostic Cloth State Representation

ArXi:2504.05033v2 Announce Type: replace-cross Cloth manipulation is a difficult problem mainly because of the non-rigid nature of cloth, which makes a good representation of deformation essential. We present a new representation for the deformation-state of clothes. First, we propose the dGLI disk representation based on topological indices computed for edge segments of the cloth border that are arranged on a circular grid.