PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy
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arXiv
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| Format: | Preprint |
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2025
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| author | Bartsch, Alison Car, Arvind Farimani, Amir Barati |
| author_facet | Bartsch, Alison Car, Arvind Farimani, Amir Barati |
| contents | Pottery creation is a complicated art form that requires dexterous, precise and delicate actions to slowly morph a block of clay to a meaningful, and often useful 3D goal shape. In this work, we aim to create a robotic system that can create simple pottery goals with only pinch-based actions. This pinch pottery task allows us to explore the challenges of a highly multi-modal and long-horizon deformable manipulation task. To this end, we present PinchBot, a goal-conditioned diffusion policy model that when combined with pre-trained 3D point cloud embeddings, task progress prediction and collision-constrained action projection, is able to successfully create a variety of simple pottery goals. For experimental videos and access to the demonstration dataset, please visit our project website: https://sites.google.com/andrew.cmu.edu/pinchbot/home. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_17846 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy Bartsch, Alison Car, Arvind Farimani, Amir Barati Robotics Pottery creation is a complicated art form that requires dexterous, precise and delicate actions to slowly morph a block of clay to a meaningful, and often useful 3D goal shape. In this work, we aim to create a robotic system that can create simple pottery goals with only pinch-based actions. This pinch pottery task allows us to explore the challenges of a highly multi-modal and long-horizon deformable manipulation task. To this end, we present PinchBot, a goal-conditioned diffusion policy model that when combined with pre-trained 3D point cloud embeddings, task progress prediction and collision-constrained action projection, is able to successfully create a variety of simple pottery goals. For experimental videos and access to the demonstration dataset, please visit our project website: https://sites.google.com/andrew.cmu.edu/pinchbot/home. |
| title | PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy |
| topic | Robotics |
| url | https://arxiv.org/abs/2507.17846 |