The shape control of deformable linear objects (DLOs) is challenging, since it is difficult to obtain the deformation models. Previous studies often approximate the models in purely offline or online ways. In this paper, we propose a scheme for the shape control of DLOs, where the unknown model is estimated with both offline and online learning. The model is formulated in a local linear format, and approximated by a neural network (NN). First, the NN is trained offline to provide a good initial estimation of the model, which can directly migrate to the online phase. Then, an adaptive controller is proposed to achieve the shape control tasks, in which the NN is further updated online to compensate for any errors in the offline model caused by insufficient training or changes of DLO properties. The simulation and real-world experiments show that the proposed method can precisely and efficiently accomplish the DLO shape control tasks, and adapt well to new and untrained DLOs.
Offline Goal-Conditioned Reinforcement Learning for Shape Control of Deformable Linear Objects
Chalmers University of Technology（查尔姆斯理工大学）；CNRS（法国国家科学研究中心）；Clermont Auvergne INP（克莱蒙奥弗涅国立综合理工学院）；Institut Pascal（帕斯卡尔研究所）；Université Clermont Auvergne（克莱蒙奥弗涅大学）；Lund University（隆德大学）
Shape-Adaptive Planning and Control for a Deformable Quadrotor
State Key Laboratory of Industrial Control Technology, Zhejiang University（浙江大学工业控制技术状态重点实验室）；Huzhou Institute, Zhejiang University（浙江大学湖州市院）；Faculty of Robot Science and Engineering, Northeastern University（东北大学机器人科学与工程学院）
SoftVTBench: A Deformation-Aware Visuo-Tactile Dataset and Benchmark for Deformable-Object Manipulation
Tuojing Intelligence（拓境智能）；Tsinghua University（清华大学）；Southeast University（东南大学）；Stevens Institute of Technology（斯蒂文斯理工学院）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；University of Manchester（曼彻斯特大学）；Simple AI；Imperial College London（帝国理工学院）；Carnegie Mellon University（卡内基梅隆大学）；Zhejiang University（浙江大学）；Beihang University（北京航空航天大学）；The University of Hong Kong（香港大学）
Learning-enhanced electronic skin for tactile sensing on deformable surface based on electrical impedance tomography
The University of Edinburgh（爱丁堡大学）；School of Engineering（工程学院）；Institute for Imaging, Data and Communications（成像、数据与通信研究所）；Institute for Integrated Micro and Nano Systems（集成微纳系统研究所）
Shape-Space Deformer: Unified Visuo-Tactile Representations for Robotic Manipulation of Deformable Objects
CSIRO Robotics, Data61, CSIRO（CSIRO机器人部、Data61、CSIRO）；School of Electrical Engineering and Computer Science (EECS), The University of Queensland（电气工程与计算机科学学院（EECS）、昆士兰大学）
Soft Contact Simulation and Manipulation Learning of Deformable Objects with Vision-based Tactile Sensor
School of Mechanical Engineering, Anhui University of Technology（安徽工业大学机械工程学院）；School of Engineering and Technology, China University of Geosciences (Beijing)（中国地质大学（北京）工程技术学院）
Challenges and Outlook in Robotic Manipulation of Deformable Objects
Cognitive Robotics, TU Delft（代尔夫特理工大学认知机器人）；Honda Research Institute, Europe（本田研究院欧洲）；LIRMM - Université de Montpellier CNRS（蒙彼利埃大学 CNRS LIRMM）；COSMER laboratory EA 7398, Universié de Toulon（土伦大学 COSMER 实验室 EA 7398）；The Hong Kong Polytechnic University（香港理工大学）；University of Texas at Austin（德克萨斯大学奥斯汀分校）；University of Michigan（密歇根大学）；Università degli Studi di Napoli Federico II（那不勒斯费德里科二世大学）；Osaka University（大阪大学）；National Institute of AIST（产业技术综合研究所）；Tsinghua University（清华大学）；The University of Hong Kong（香港大学）；Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所）
SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects (Early Version)
Tuojing Intelligence（拓景智能）；Tsinghua University（清华大学）；King’s College London（伦敦国王学院）；Southeast University（东南大学）；Stevens Institute of Technology（史蒂文斯理工学院）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；University of Manchester（曼彻斯特大学）；Simple AI（简单人工智能公司）；Imperial College London（伦敦帝国学院）；Carnegie Mellon University（卡内基梅隆大学）；Zhejiang University（浙江大学）；Beihang University（北京航空航天大学）；The University of Hong Kong（香港大学）
