Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation

Title:Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation

Abstract:Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. We introduce Wiggle and Go!, a two-stage framework for zero-shot rope manipulation: a brief, safe wiggle action is observed to predict descriptive rope parameters, which then conditions a trajectory optimizer for zero-shot goal-conditioned execution. Unlike prior dynamic rope manipulation methods that require large real-world datasets or iterative real-world refinement, our identification module is task-agnostic, supporting diverse manipulation policies without retraining. We achieve a 3.55\,cm average accuracy on 3D target striking in real using rope system parameters in comparison to 15.29\,cm for uninformed baselines, and over 50\% success on multi-objective lobbing and draping tasks. Predicted parameters transfer to unseen motions with 0.95 Pearson correlation between simulated and real rope dynamics, indicating that the identification module generalizes across the task corpus. Project website: this https URL

Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG)

arXiv:2604.22102 [cs.RO]

(or arXiv:2604.22102v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2604.22102 Focus to learn more arXiv-issued DOI via DataCite

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