GenDOM: Generalizable One-shot Deformable Object Manipulation with Parameter-Aware Policy

no code implementations • 16 Sep 2023 • So Kuroki, Jiaxian Guo, Tatsuya Matsushima, Takuya Okubo, Masato Kobayashi, Yuya Ikeda, Ryosuke Takanami, Paul Yoo, Yutaka Matsuo, Yusuke Iwasawa

Due to the inherent uncertainty in their deformability during motion, previous methods in deformable object manipulation, such as rope and cloth, often required hundreds of real-world demonstrations to train a manipulation policy for each object, which hinders their applications in our ever-changing world.

Deformable Object Manipulation Object

GenORM: Generalizable One-shot Rope Manipulation with Parameter-Aware Policy

no code implementations • 14 Jun 2023 • So Kuroki, Jiaxian Guo, Tatsuya Matsushima, Takuya Okubo, Masato Kobayashi, Yuya Ikeda, Ryosuke Takanami, Paul Yoo, Yutaka Matsuo, Yusuke Iwasawa

To achieve this, we augment the policy by conditioning it on deformable rope parameters and training it with a diverse range of simulated deformable ropes so that the policy can adjust actions based on different rope parameters.