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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2511.06434 |
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| _version_ | 1866912703647318016 |
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| author | Hu, Wenkang Tang, Xincheng E, Yanzhi Li, Yitong Shu, Zhengjie Li, Wei Wang, Huamin Yang, Ruigang |
| author_facet | Hu, Wenkang Tang, Xincheng E, Yanzhi Li, Yitong Shu, Zhengjie Li, Wei Wang, Huamin Yang, Ruigang |
| contents | While there has been significant progress to use simulated data to learn robotic manipulation of rigid objects, applying its success to deformable objects has been hindered by the lack of both deformable object models and realistic non-rigid body simulators. In this paper, we present Real Garment Benchmark (RGBench), a comprehensive benchmark for robotic manipulation of garments. It features a diverse set of over 6000 garment mesh models, a new high-performance simulator, and a comprehensive protocol to evaluate garment simulation quality with carefully measured real garment dynamics. Our experiments demonstrate that our simulator outperforms currently available cloth simulators by a large margin, reducing simulation error by 20% while maintaining a speed of 3 times faster. We will publicly release RGBench to accelerate future research in robotic garment manipulation. Website: https://rgbench.github.io/ |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_06434 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Real Garment Benchmark (RGBench): A Comprehensive Benchmark for Robotic Garment Manipulation featuring a High-Fidelity Scalable Simulator Hu, Wenkang Tang, Xincheng E, Yanzhi Li, Yitong Shu, Zhengjie Li, Wei Wang, Huamin Yang, Ruigang Robotics While there has been significant progress to use simulated data to learn robotic manipulation of rigid objects, applying its success to deformable objects has been hindered by the lack of both deformable object models and realistic non-rigid body simulators. In this paper, we present Real Garment Benchmark (RGBench), a comprehensive benchmark for robotic manipulation of garments. It features a diverse set of over 6000 garment mesh models, a new high-performance simulator, and a comprehensive protocol to evaluate garment simulation quality with carefully measured real garment dynamics. Our experiments demonstrate that our simulator outperforms currently available cloth simulators by a large margin, reducing simulation error by 20% while maintaining a speed of 3 times faster. We will publicly release RGBench to accelerate future research in robotic garment manipulation. Website: https://rgbench.github.io/ |
| title | Real Garment Benchmark (RGBench): A Comprehensive Benchmark for Robotic Garment Manipulation featuring a High-Fidelity Scalable Simulator |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.06434 |