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RotateIt! Fast and Reliable Single-Arm Garment Unfolding via Online-Adaptive Dynamic Rotation

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Robotic garment unfolding is essential for downstream tasks, yet quasi-static methods require repeated actions, while existing dynamic approaches predominantly rely on bimanual flinging. We present RotateIt!, a single-arm framework that uses adaptive axial rotation for dynamic garment unfolding. To the best of our knowledge, it is the first unfolding framework to employ dynamic axial rotation as its primary manipulation primitive. From a randomly initialized tabletop configuration, the robot selects a rotation-effective grasp and rotates the lifted garment about an approximately fixed anchor,

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