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cs.RO2025
Certifiably Safe Manipulation of Deformable Linear Objects via Joint Shape and Tension Prediction
Yiting Zhang, Shichen Li
Manipulating deformable linear objects (DLOs) is challenging due to their complex dynamics and the need for safe interaction in contact-rich environments. Most existing models focu…
cs.RO2025
XPG-RL: Reinforcement Learning with Explainable Priority Guidance for Efficiency-Boosted Mechanical Search
Yiting Zhang, Shichen Li, Elena Shrestha
Mechanical search (MS) in cluttered environments remains a significant challenge for autonomous manipulators, requiring long-horizon planning and robust state estimation under occl…
cs.RO2024
Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects
Yizhou Chen, Yiting Zhang, Zachary Brei +4
This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant…