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Dressing in Motion: A Human Motion-Aware Diffusion Policy for Robot-Assisted Dressing

arXiv · AI, language, vision and robotics · article · Sep 4, 2026 · UTC

Robotic dressing assistance is a promising solution for supporting older adults with physical impairments in daily living. However, dressing under human motion remains challenging, as complex garment--human contact and occlusions make it difficult to generate actions aligned with arm movements. In this letter, we propose a visuomotor policy that learns dressing skills from static expert demonstrations and generalizes to dynamic user-motion scenarios. A diffusion policy tailored to garment--human interaction geometry learns from partially observed point clouds with varied arm postures. We then

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