D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation

Abstract

Mastering deformable object manipulation often necessitates the use of anthropomorphic, high-degree-of-freedom robot hands capable of precise, contact-rich control. However, current trajectory optimisation methods often struggle in these settings due to the large search space and the sparse task information available from shape-matching cost functions, particularly when contact is absent. In this work, we propose D-Cubed, a novel trajectory optimisation method using a latent diffusion model (LDM) trained from a task-agnostic play dataset to solve dexterous deformable object manipulation tasks. D-Cubed learns a skill-latent space that encodes short-horizon actions from a play dataset using a VAE and trains a LDM to compose the skill latents into a skill trajectory, representing a long-horizon action trajectory. To optimise a trajectory for a target task, we introduce a novel gradient-free guided sampling method that employs the Cross-Entropy method within the reverse diffusion process. In particular, D-Cubed samples a small number of noisy skill trajectories using the LDM for exploration and evaluates the trajectories in simulation. Then D-Cubed selects the trajectory with the lowest cost for the subsequent reverse process. This effectively explores promising solution areas and optimises the sampled trajectories towards a target task throughout the reverse diffusion process. Through empirical evaluation on a published benchmark of dexterous deformable object manipulation tasks, we demonstrate that D-Cubed outperforms traditional trajectory optimisation and competitive baseline approaches by a significant margin.