{"ID":2891489,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2507.17846","arxiv_id":"2507.17846","title":"PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy","abstract":"Pottery creation is a complicated art form that requires dexterous, precise and delicate actions to slowly morph a block of clay to a meaningful, and often useful 3D goal shape. In this work, we aim to create a robotic system that can create simple pottery goals with only pinch-based actions. This pinch pottery task allows us to explore the challenges of a highly multi-modal and long-horizon deformable manipulation task. To this end, we present PinchBot, a goal-conditioned diffusion policy model that when combined with pre-trained 3D point cloud embeddings, task progress prediction and collision-constrained action projection, is able to successfully create a variety of simple pottery goals. For experimental videos and access to the demonstration dataset, please visit our project website: https://sites.google.com/andrew.cmu.edu/pinchbot/home.","short_abstract":"Pottery creation is a complicated art form that requires dexterous, precise and delicate actions to slowly morph a block of clay to a meaningful, and often useful 3D goal shape. In this work, we aim to create a robotic system that can create simple pottery goals with only pinch-based actions. This pinch pottery task al...","url_abs":"https://arxiv.org/abs/2507.17846","url_pdf":"https://arxiv.org/pdf/2507.17846v1","authors":"[\"Alison Bartsch\",\"Arvind Car\",\"Amir Barati Farimani\"]","published":"2025-07-23T18:13:41Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[\"Diffusion Model\"]","project_urls":"[\"https://sites.google.com/andrew.cmu.edu/pinchbot/home\"]","has_code":false,"code_links":[{"ID":611887,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2891489,"paper_url":"https://arxiv.org/abs/2507.17846","paper_title":"PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy","repo_url":"https://github.com/google/safevalues","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0},{"ID":611888,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2891489,"paper_url":"https://arxiv.org/abs/2507.17846","paper_title":"PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy","repo_url":"https://github.com/alison-bartsch/PinchBot","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}