Description: A Visual Predictive Model for Topological Manipulation of Deformable Objects
A Visual Predictive Model for Topological Manipulation of Deformable Objects
Dominik Bauer 1 , Zhenjia Xu 1,2 , Shuran Song 1,2 1 Columbia University, 2 Stanford University
tl;dr Our predictive model enables planning of robotic manipulation for geometrical deformation and topological change of elastoplastic objects; taking only a single RGBD observation as input, we select the best tool, its pose and opening width to recreate the desired robot- or human-made goal shape.