6 papers · 1 filter
RT-Cache: Training-Free Retrieval for Real-Time Manipulation
Owen Kwon, Abraham George, Alison Bartsch +1
Real robots are expected to repeat the same behavior in new environments with very little new data, yet modern controllers either incur heavy per-step inference or require deployme…
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…
LLM-Craft: Robotic Crafting of Elasto-Plastic Objects with Large Language Models
Alison Bartsch, Amir Barati Farimani
When humans create sculptures, we are able to reason about how geometrically we need to alter the clay state to reach our target goal. We are not computing point-wise similarity me…
Planning and Reasoning with 3D Deformable Objects for Hierarchical Text-to-3D Robotic Shaping
Alison Bartsch, Amir Barati Farimani
Deformable object manipulation remains a key challenge in developing autonomous robotic systems that can be successfully deployed in real-world scenarios. In this work, we explore…
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…
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…