A Simple Gripper Interface for Simulator-Agnostic Cloth Manipulation

arXiv:2609.29340 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-28

Comments: Accepted for a special session on Hybrid Intelligence at the 23rd International Conference on Informatics in Control, Automation and Robotics, 26-28 October, 2026

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Incremental Potential Contact — 3× in this paper
• Abstraction — 2× in this paper · explained in 1 episode
• Benchmarking — 2× in this paper · explained in 3 episodes
• Computational overhead — 2× in this paper · explained in 2 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• APEX — 1× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes
• System Identification — 1× in this paper · explained in 3 episodes

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