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simmediumimitationmetric · varies
ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real
Description
This paper tackles the challenging robotic task of generalizable paper cutting using scissors. In this task, scissors attached to a robot arm are driven to accurately cut curves drawn on the paper, which is hung with the top edge fixed. Due to the frequent paper-scissor contact and consequent fracture, the paper features continual deformation and changing topology, which is diffult for accurate modeling. To ensure effective execution, we customize an action primitive sequence for imitation learn