This research introduces a novel hierarchical planning approach that enables robots to manipulate deformable objects (like dough) without requiring demonstrations.

• Develops EMD-Space (Earth Mover's Distance) for representing deformable states
• Creates a donut-shaped planning hierarchy that separates high-level goals from low-level actions
• Achieves zero-shot manipulation through physics-based planning rather than demonstration learning
• Demonstrates success with complex dough-shaping tasks using robotic tools

This engineering breakthrough matters because it eliminates the need for hard-to-acquire demonstrations in deformable object manipulation, potentially revolutionizing food production, manufacturing, and other industries requiring precise material manipulation.

Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation with Tools