Dynamic robotic cloth folding with efficient Koopman operator-based model predictive control

ArXi:2605.18373v1 Announce Type: cross Robotic cloth folding is a challenging task, particularly when considering dynamic folding tasks, which aim at folding cloth by fast motions that leverage its dynamics. When subject to such fast motions, the complexity of cloth dynamics hinders both system identification and planning of folding trajectories, resulting in a difficult simulation-to-reality transfer when using physical models of cloth.