Flat'n'Fold: A Diverse Multi-Modal Dataset for Garment Perception and Manipulation

Description

We present Flat'n'Fold, a novel large-scale dataset for garment manipulation that addresses critical gaps in existing datasets. Comprising 1,212 human and 887 robot demonstrations of flattening and folding 44 unique garments across 8 categories, Flat'n'Fold surpasses prior datasets in size, scope, and diversity. Our dataset uniquely captures the entire manipulation process from crumpled to folded states, providing synchronized multi-view RGB-D images, point clouds, and action data, including han

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