{"paper":{"title":"Robotic Dough Shaping","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV"],"primary_cat":"cs.RO","authors_text":"Di Ni, Henry Zheng, Jan Ondras, Tapomayukh Bhattacharjee (Cornell University), Xi Deng, Zeqi Gu","submitted_at":"2022-07-31T07:50:54Z","abstract_excerpt":"Robotic manipulation of deformable objects gains great attention due to its wide applications including medical surgery, home assistance, and automatic food preparation. The ability to deform soft objects remains a great challenge for robots due to difficulties in defining the problem mathematically. In this paper, we address the problem of shaping a piece of dough-like deformable material into a 2D target shape presented upfront. We use a 6 degree-of-freedom WidowX-250 Robot Arm equipped with a rolling pin and information collected from an RGB-D camera and a tactile sensor. We present and com"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2208.00386","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2208.00386/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}