Dressing in Motion: Robot-Assisted Dressing While the Arm Keeps Moving
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Loading videoRobot-assisted dressing breaks the moment the person moves: the garment deforms and the robot loses contact. Dressing in Motion trains a visuomotor diffusion policy only on static demonstrations, then represents the moving arm with an object-centric PDE-diffusion formulation so the same policy generalizes to dynamic arm motion. A sim and real study with 9 participants, 3 garments and 6 arm-motion patterns beats baselines on dressing progress, degrees of freedom and comfort.
Category: research
Author: @robotsdigest
Date: 2026-09-07T00:00:00
Duration: 113.833s
Reference: https://arxiv.org/abs/2609.04759
