Generalizable dual-arm fabric folding via parallel multiresolution attention

Purpose This study aims to address the challenges of robotic cloth folding, stemming from complex dynamics and high degrees of freedom. While existing learning-based approaches have shown promise, they often suffer from limited generalization across diverse fabrics and require extensive real-world data. To address this gap, we propose a perception-centric strategy introducing HrcbamFolding, a dual-arm system that leverages a deep network to directly map visual inputs to the key manipulation poin