A single goal-conditioned diffusion policy, combined with pre-trained point cloud embeddings and collision-constrained action projection, can create pottery bowls of 8, 10, and 12 centimeter diameters.
Point cloud matters: Rethinking the impact of different observation spaces on robot learning,
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PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy
A single goal-conditioned diffusion policy, combined with pre-trained point cloud embeddings and collision-constrained action projection, can create pottery bowls of 8, 10, and 12 centimeter diameters.