Precisely reconstructing and manipulating crumpled cloths is challenging due to the high dimensionality of the cloth model, as well as the limited observation at self-occluded regions. We leverage the recent progress in the field of single-view human body reconstruction to template-based reconstruct the crumpled cloths from their top-view depth observations only, with our proposed sim-real registration protocols. In contrast to previous implicit cloth representations, our reconstruction mesh explicitly indicates the positions and visibilities of the entire cloth mesh vertices, enabling more efficient dual-arm and single-arm target-oriented manipulations. Experiments demonstrate that our template-based reconstruction and target-oriented manipulation (TRTM) system can be applied to daily cloths with similar topologies as our template mesh, but have different shapes, sizes, patterns, and physical properties. Videos, datasets, pre-trained models, and code can be downloaded from our project website: https://wenbwa.github.io/TRTM/.

翻译：精确重建和操控褶皱衣物极具挑战性，这源于衣物模型的高维特性以及自遮挡区域有限的观测信息。我们利用单视角人体重建领域的最新进展，通过所提出的仿真-真实配准协议，仅从顶视角深度观测数据实现基于模板的褶皱衣物重建。与先前的隐式衣物表征不同，我们的重建网格显式指示了整个衣物网格顶点的位置与可见性，从而支持更高效的双臂及单臂目标导向操控。实验表明，我们的基于模板重建与目标导向操控（TRTM）系统可应用于日常衣物，这些衣物在拓扑结构上与我们的模板网格相似，但具有不同的形状、尺寸、图案和物理属性。视频、数据集、预训练模型及代码可从项目网站获取：https://wenbwa.github.io/TRTM/。