Arvind Car

SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy

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 given an interaction. These challenges are the most pronounced with 3D deformable objects. We propose SculptDiff, a goal-c…