A horizon-agnostic neural operator paired with a boundary control barrier function creates a real-time safety filter that raises safe trajectory rates by up to 22% on fluid manipulation tasks in simulation.
A survey on robotic manipulation of deformable objects: Recent advances, open challenges and new frontiers
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RopeDreamer uses quaternionic kinematic chains in a recurrent state space model with a dual decoder to cut open-loop prediction error by 40.52% over 50 steps on simulated DLO trajectories while preserving physical constraints.
A SA-KLQR controller with tactile feedback enables real-time regulation of angle, pressure, and coverage for a deformable swab tool in food-safety sampling.
citing papers explorer
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Online Safety Filter for Deformable Object Manipulation with Horizon Agnostic Neural Operators
A horizon-agnostic neural operator paired with a boundary control barrier function creates a real-time safety filter that raises safe trajectory rates by up to 22% on fluid manipulation tasks in simulation.
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RopeDreamer: A Kinematic Recurrent State Space Model for Dynamics of Flexible Deformable Linear Objects
RopeDreamer uses quaternionic kinematic chains in a recurrent state space model with a dual decoder to cut open-loop prediction error by 40.52% over 50 steps on simulated DLO trajectories while preserving physical constraints.
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Data-Driven Contact-Aware Control Method for Real-Time Deformable Tool Manipulation: A Case Study in the Environmental Swabbing
A SA-KLQR controller with tactile feedback enables real-time regulation of angle, pressure, and coverage for a deformable swab tool in food-safety sampling.