ForwardDLO: Model-Based Bimanual Shape Matching of Unconstrained Deformable Linear Objects

arXiv:2609.18455 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-17

Terminology

• Accuracy — 12× in this paper · explained in 1 episode
• Ablation — 5× in this paper · explained in 1 episode
• Action Space — 4× in this paper · explained in 1 episode
• Latent Dynamics — 4× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 3× in this paper
• Latent Space — 3× in this paper · explained in 7 episodes
• Model Predictive Control — 3× in this paper
• Embeddings — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Vertex Block Descent — 2× in this paper
• Ablation Studies — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Gated Recurrent Unit — 1× in this paper
• International Conference on Learning Representations — 1× in this paper
• Loss Function — 1× in this paper · explained in 2 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes
• Variational Bayes — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Learning Sim-Grounded Policies for Bimanual Rope Manipulation from Human Teleoperation Data
• AssistDLO: Assistive Teleoperation for Deformable Linear Object Manipulation
• RopeDreamer: A Kinematic Recurrent State Space Model for Dynamics of Flexible Deformable Linear Objects

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