外观
论文arXiv 2609.126341 个月前
面向可变形线状物体成形的条件 Diffusion Policy 在线材料估计
原文链接：Online Material Estimation for Conditioned Diffusion Policy in Shaping Deformable Linear Objects（arXiv 2609.12634 · 发布日期：2026-09-11）
Online Material Estimation for Conditioned Diffusion Policy in Shaping Deformable Linear Objects
针对DLO成形中材料差异导致的策略泛化问题，提出在线材料估计条件Diffusion Policy，并在真实机器人示教上验证。
核心要点
- DLO的变形行为随刚度和弹性等材料属性变化，相同目标形状也需不同动作序列。
- 方法用循环估计网络从多视角图像和机器人关节状态时序中预测材料标签，并条件化Diffusion Policy。
- 实验采集480个真实机器人示教，覆盖四种DLO材料和三种凹槽放置任务，并比较多类策略。
- 真实标签条件使成功率由45.8%升至60.0%；所提方法无材料先验达60.8%，但一个失败例涉及相似材料混淆。
验证范围与局限：验证范围为真实机器人上的四种DLO材料和三种凹槽放置任务。
英文摘要 (Abstract)
Shape control of deformable linear objects (DLOs) is challenging for imitation learning because deformation behavior varies with material properties such as stiffness and elasticity, so a single policy must generate different action sequences for different objects even when the goal shape is identical. We propose a diffusion policy conditioned on material labels that are estimated online during manipulation. A recurrent estimation network predicts the material label of the grasped object from the time series of multi-view images and robot joint states, and the predicted label conditions the diffusion policy at every inference step. We collected 480 real-robot demonstrations covering four DLO materials and three groove-placement tasks, and compared per-material specialist policies, a task-conditioned policy without material labels, a policy conditioned on ground-truth material labels, and the proposed policy. Conditioning on ground-truth material labels improved the average success rate from 45.8% to 60.0% over the task-only policy, and the proposed policy reached 60.8% without any prior material information, matching the policy given ground-truth labels. A post-hoc analysis shows that the estimator extracts material-related information from the manipulation observations and that the diffusion policy responds to the resulting conditioning signal, while the one pronounced failure case is associated with persistent confusion between two similar materials.
作者：Ryunosuke Yamada, Tomohiro Motoda, Yukiyasu Domae, Tokuo Tsuji
来源
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