Manipulation with Stability Guarantees: Linear Deformable Objects with Non-negligible Physical Response Grasped at Multiple Location

arXiv:2609.26004 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Terminology

• Accuracy — 8× in this paper · explained in 1 episode
• Closed-Loop Control — 6× in this paper · explained in 3 episodes
• Decoupling — 5× in this paper · explained in 2 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Core — 2× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Adaptability — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Closed-Loop System — 1× in this paper · explained in 4 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Dynamic Modeling — 1× in this paper · explained in 3 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Holonomy — 1× in this paper · explained in 2 episodes
• Inverse Problem — 1× in this paper · explained in 2 episodes
• Latent Dynamics — 1× in this paper · explained in 2 episodes
• Magnus Expansion — 1× in this paper · explained in 4 episodes
• PID Controller — 1× in this paper · explained in 2 episodes
• Point Cloud Data — 1× in this paper · explained in 2 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes

Sources

• Rod models in continuum and soft robot control: a review
• Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects
• GenORM: Generalizable One-shot Rope Manipulation with Parameter-Aware Policy
• Dynamic Manipulation of Deformable Objects in 3D: Simulation, Benchmark and Learning Strategy
• Planar Robot Casting with Real2Sim2Real Self-Supervised Learning

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