We study the problem of learning to perform multistage robotic manipulation tasks, with
applications to cable routing, where the robot must route a cable through a series of clips …

Manipulating cables is challenging for robots because of the infinite degrees of freedom of
the cables and frequent occlusion by the gripper and the environment. These challenges are …

The TrackDLO algorithm estimates the shape of a Deformable Linear Object (DLO) under
occlusion from a sequence of RGB-D images. TrackDLO is vision-only and runs in real-time …

Constrained environments, compared with open spaces without other objects, are more
common in practical applications of manipulating deformable linear objects (DLOs) by …

Accurately and robustly estimating the state of deformable linear objects (DLOs), such as
ropes and wires, is crucial for DLO manipulation and other applications. However, it remains …

In this work, we first formulate the problem of robotic water scooping using goal-conditioned
reinforcement learning. This task is particularly challenging due to the complex dynamics of …

In this letter, we present a planning method considering regrasp and mobility for the
manipulation problem of a long deformable object in an industrial scenario. The object is …

Tracking of deformable linear objects (DLOs) is important for many robotic applications.
However, achieving robust and accurate tracking is challenging due to the lack of distinctive …

In robotic deformable object manipulation (DOM) applications, constraints arise commonly
from environments and task-specific requirements. Enabling DOM with constraints is …

Most research on deformable linear object (DLO) manipulation assumes rigid grasping.
However, beyond rigid grasping and re-grasping, in-hand following is also an essential skill …