GarmentLab: A Unified Simulation and Benchmark for Garment Manipulation
Haoran Lu*, Ruihai Wu*, Yitong Li*, Sijie Li, Ziyu Zhu, Chuanruo Ning, Yan Shen, Longzan Luo, Yuanpei Chen, Hao Dong
Published in NeurIPS 2024
We present GarmentLab, a benchmark designed for garment manipulation within realistic 3D indoor scenes. Our benchmark encompasses a diverse range of garment types, robotic systems and manipulators including dexterous hands. The multitude of tasks included in the benchmark enables further exploration of the interactions between garments, deformable objects, rigid bodies, fluids, and avatars.