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Reinforcement learning of clothing assistance with a dual-arm robot
Abstract
This study aims at robotic clothing assistance as it is yet an open field for robotics despite it is one of the basic and important assistance activities in daily life of elderly as well as disabled people. The clothing assistance is a challenging problem since robots must interact with non-rigid clothes generally represented in a high-dimensional space, and with the assisted person whose posture can vary during the assistance. Thus, the robot is required to manage two difficulties to perform the task of the clothing assistance: 1) handling of non-rigid materials and 2) adaptation of the assisting movements to the assisted person's posture. To overcome these difficulties, we propose to use reinforcement learning with the cloth's state which is low-dimensionally represented in topology coordinates, and with the reward defined in the low-dimensional coordinates. With our developed experimental system, for T-shirt clothing assistance, including an anthropomorphic dual-arm robot and a soft mannequin, we demonstrate the robot quickly learns a suitable arm motion for putting the mannequin's head into a T-shirt.
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In the citing paper
“Kinesthetic teaching is leveraged frequently in assistive dressing, where a human coordinator grabs the robot arm to demonstrate dressing trajectories, and the data are collected through the robot’s sensorimotors [1].”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [1]
In the citing paper
“In CDO manipulation, policy-gradient methods VPG [1] and TRPO [31,32] are applied in dressing in simulation (Section 6.3.2).”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [1]
In the citing paper
“Although there have been several attempts [1,31,38], designing a simple and effective dense reward function for cloth folding and dressing tasks is still challenging.”
From Data-Driven Robotic Manipulation of Cloth-like Deformable Objects: The Present, Challenges and Future Prospects (2023) · cites this paper as [1]
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Unde, J., Urata, T., Kamei, S., Ito, Y., Kihara, R., Colan, J., & Hasegawa, Y. (2025) · IEEE RO-MAN · doi:10.1109/ro-man63969.2025.11217663
Lee, J. H., Oh, J.-H., Jaramillo, I. E., Jung, D., Choi, Y.-H., Lee, W. H., Kim, W., & Kim, T. (2025) · Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) · doi:10.1109/embc58623.2025.11253568
Control of objects with a high degree of freedom
Wang, H. (2012) · ERA
Designing of low-DoF robot system from low-dimensional latent space
Yamasaki, K., & Shibata, T. (2026) · ROBOMECH Journal · doi:10.1186/s40648-026-00336-7
Self-citationAdaptive Dressing Assistance using a Dual Arm Robot for Individual Physique and Kyphosis
Kajiwara, T., Yamasaki, K., & Shibata, T. (2026) · Journal of the Robotics Society of Japan · doi:10.7210/jrsj.44.406
Self-citation
Metadata
- Authors
- Tamei, T., Matsubara, T., Rai, A., & Shibata, T.
- Affiliations
- Nara Institute of Science and Technology (JP)
- Indian Institute of Technology Kanpur (IN)
- Venue
- 2011 11th IEEE-RAS International Conference on Humanoid Robots
- Publisher
- IEEE
- Published
- 2011-10
- Pages
- 733-738
- OpenAlex
- W1989564233
- Cited by
- 103
- References
- 7
- Citations by year
- 2026: 6 · 2025: 9 · 2024: 13 · 2023: 9 · 2022: 9 · 2021: 2 · 2020: 6 · 2019: 7 · 2018: 8 · 2017: 13 · 2016: 8 · 2015: 3 · 2014: 4 · 2013: 4 · 2012: 2
- FWCI
- 5.35
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE-RAS International Conference on Humanoid Robots (Humanoids) (publishedVersion)
- Funders
- Japan Society for the Promotion of Science
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Computer Science › Artificial Intelligence › Reinforcement Learning in Robotics
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Keywords
- dual-arm robot, reinforcement learning, humanoid robots
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