DiffDef: A Diffusion Model for Generating Multimodal Goal Shapes From Demonstrations for Deformable Object Manipulation
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2506.18779v2 Announce Type: replace Abstract: Deformable object manipulation is a key capability in many robotic applications. A promising paradigm for this problem is shape servoing, which aims to control deformable objects toward desired goal shapes. However, existing approaches typically rely on impractical goal-shape acquisition methods, such as domain-knowledge engineering or manual manipulation.