Reactive In-Air Clothing Manipulation with Confidence-Aware Dense Correspondence and Visuotactile Affordance

Manipulating clothing is challenging due to their complex, variable configurations and frequent self-occlusion. While prior systems often rely on flattening garments, humans routinely identify keypoints in highly crumpled and suspended states. We present a novel, task-agnostic, visuotactile framework that operates directly on crumpled clothing—including in-air configurations that have not been addressed before. Our approach combines global visual perception with local tactile feedback to enable robust, reactive manipulation. We train dense visual descriptors on a custom simulated dataset using a distributional loss that captures cloth symmetries and generates correspondence confidence estimates. These estimates guide a reactive state machine that dynamically selects between folding strategies based on perceptual uncertainty. In parallel, we train a visuotactile grasp affordance network using high-resolution tactile feedback to supervise grasp success. The same tactile classifier is used during execution for real-time grasp validation. Together, these components enable a reactive, task-agnostic framework for in-air garment manipulation, including folding and hanging tasks. Moreover, our dense descriptors serve as a versatile intermediate representation for other planning modalities, such as extracting grasp targets from human video demonstrations, paving the way for more generalizable and scalable garment manipulation.