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ForwardDLO: Model-Based Bimanual Shape Matching of Unconstrained Deformable Linear Objects

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Ropes, cables, and other deformable linear objects appear in tasks from untangling to cable routing and suturing, yet controlling their shape remains a challenge in robot manipulation. We study model-based shape control in a general setting: the object lies unfixated on a support surface and two arms may grasp and move it anywhere along its length. Because each arm chooses a grasp point, direction, and magnitude, the joint action space is combinatorially large, and the dynamics model's per-prediction cost bounds how much of it a planner can search. We present ForwardDLO, a recurrent latent dyn

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