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cs.RO2025
PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy
Alison Bartsch, Arvind Car, Amir Barati Farimani
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…
cs.RO2024
PLATO: Planning with LLMs and Affordances for Tool Manipulation
Arvind Car, Sai Sravan Yarlagadda, Alison Bartsch +2
As robotic systems become increasingly integrated into complex real-world environments, there is a growing need for approaches that enable robots to understand and act upon natural…
cs.RO2024
SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy
Alison Bartsch, Arvind Car, Charlotte Avra +1
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 gi…