Cloth manipulation is a difficult problem mainly because of the non-rigid nature of cloth, which makes a good representation of deformation essential. We present a new representation for the deformation-state of clothes. First, we propose the dGLI disk representation based on topological indices computed for edge segments of the cloth border that are arranged on a circular grid. The heat-map of the dGLI disk uncovers patterns that correspond to features of the cloth state that are consistent for different shapes, sizes or orientation of the cloth. We then abstract these important features from the dGLI disk into a circle, calling it the Cloth StatE representation (CloSE). This representation is compact, continuous, and general for different shapes. We show that this representation is able to accurately predict the fold locations for several simulation clothing datasets. Finally, we also show the strengths of this representation in two relevant applications: semantic labeling and high- and low-level planning. The code and the dataset can be accessed from: https://close-representation.github.io/

翻译：布料操作是一个难题，主要源于布料的非刚性特性，这使得对变形的良好表示至关重要。我们提出了一种新的布料变形状态表示方法。首先，我们提出基于拓扑索引的dGLI圆盘表示，该索引针对布料边缘段计算，并排列在圆形网格上。dGLI圆盘的热图揭示了与布料状态特征相对应的模式，这些特征在不同形状、尺寸或朝向的布料中保持一致。随后，我们将这些重要特征从dGLI圆盘抽象为一个圆环，称之为布料状态表示（CloSE）。该表示形式紧凑、连续，且适用于不同形状的通用表示。我们证明该表示能够准确预测多个仿真服装数据集的折叠位置。最后，我们还在两个相关应用中展示了该表示的优势：语义标注以及高层与低层规划。代码和数据集可通过以下网址访问：https://close-representation.github.io/