机器人用捏塑动作完成复杂陶艺成型，实现长时序柔性操作
PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy
- 基于扩散模型的条件策略，结合3D点云嵌入与进度预测
- 在多个简单陶器目标上成功实现长时序变形操作
- 适合研究柔性物体操控与生成式机器人策略的学者
陶艺制作是一门复杂的艺术，需要灵巧、精准且细腻的动作，将一块黏土逐步塑造成有意义的三维目标形状。本文旨在构建一个仅通过捏塑动作即可完成简单陶艺目标的机器人系统。这一捏塑任务使我们能够探索高度多模态且长时序的柔性物体操作挑战。为此，我们提出PinchBot，一种目标条件化的扩散策略模型，结合预训练的3D点云嵌入、任务进展预测和碰撞约束动作投影，成功实现了多种简单陶器目标的创建。实验视频及演示数据集请访问项目主页：https://sites.google.com/andrew.cmu.edu/pinchbot/home。
原文摘要 · Abstract (English)
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.
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