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Online Material Estimation for Conditioned Diffusion Policy in Shaping Deformable Linear Objects

arXiv · AI, language, vision and robotics · article · Sep 11, 2026 · UTC

Shape control of deformable linear objects (DLOs) is challenging for imitation learning because deformation behavior varies with material properties such as stiffness and elasticity, so a single policy must generate different action sequences for different objects even when the goal shape is identical. We propose a diffusion policy conditioned on material labels that are estimated online during manipulation. A recurrent estimation network predicts the material label of the grasped object from the time series of multi-view images and robot joint states, and the predicted label conditions the di

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