标题： PinchBot：具有引导扩散策略的长期变形操作 显示英文标题

标题： PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy

摘要： 陶器制作是一种复杂的艺术形式，需要灵巧、精确和细致的动作，以逐渐将一块粘土转化为有意义且通常有用的3D目标形状。 在本工作中，我们旨在创建一个机器人系统，仅通过基于捏合的动作就能创建简单的陶器目标。 这个捏合陶器任务使我们能够探索高度多模态和长时程的可变形操作任务的挑战。 为此，我们提出了PinchBot，这是一个目标条件的扩散策略模型，当与预训练的3D点云嵌入、任务进度预测和碰撞约束动作投影结合时，能够成功创建各种简单的陶器目标。 如需观看实验视频和访问演示数据集，请访问我们的项目网站：https://sites.google.com/andrew.cmu.edu/pinchbot/home. 显示英文摘要

摘要： 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.