SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866911798848913408 |
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| author | Bartsch, Alison Car, Arvind Avra, Charlotte Farimani, Amir Barati |
| author_facet | Bartsch, Alison Car, Arvind Avra, Charlotte Farimani, Amir Barati |
| contents | Manipulating deformable objects remains a challenge within robotics due to the difficulties of state estimation, long-horizon planning, and predicting how the object will deform given an interaction. These challenges are the most pronounced with 3D deformable objects. We propose SculptDiff, a goal-conditioned diffusion-based imitation learning framework that works with point cloud state observations to directly learn clay sculpting policies for a variety of target shapes. To the best of our knowledge this is the first real-world method that successfully learns manipulation policies for 3D deformable objects. For sculpting videos and access to our dataset and hardware CAD models, see the project website: https://sites.google.com/andrew.cmu.edu/imitation-sculpting/home |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_10401 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy Bartsch, Alison Car, Arvind Avra, Charlotte Farimani, Amir Barati Robotics Artificial Intelligence Manipulating deformable objects remains a challenge within robotics due to the difficulties of state estimation, long-horizon planning, and predicting how the object will deform given an interaction. These challenges are the most pronounced with 3D deformable objects. We propose SculptDiff, a goal-conditioned diffusion-based imitation learning framework that works with point cloud state observations to directly learn clay sculpting policies for a variety of target shapes. To the best of our knowledge this is the first real-world method that successfully learns manipulation policies for 3D deformable objects. For sculpting videos and access to our dataset and hardware CAD models, see the project website: https://sites.google.com/andrew.cmu.edu/imitation-sculpting/home |
| title | SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2403.10401 |