TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approach

Weikun Peng, Jun Lv, Yuwei Zeng +5

The tie-knotting task is highly challenging due to the tie's high deformation and long-horizon manipulation actions. This work presents TieBot, a Real-to-Sim-to-Real learning from…