mlsanityData to 14 Oct 2026

DexDLO: Learning Goal-Conditioned Dexterous Policy for Dynamic Manipulation of Deformable Linear Objects

arXiv 2312.15204 ↗First posted 23 Dec 2023cs.RO cs.LGcited by 4

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Abstract (arXiv)

Deformable linear object (DLO) manipulation is needed in many fields. Previous research on deformable linear object (DLO) manipulation has primarily involved parallel jaw gripper manipulation with fixed grasping positions. However, the potential for dexterous manipulation of DLOs using an anthropomorphic hand is under-explored. We present DexDLO, a model-free framework that learns dexterous dynamic manipulation policies for deformable linear objects with a fixed-base dexterous hand in an end-to-end way. By abstracting several common DLO manipulation tasks into goal-conditioned tasks, our DexDLO can perform these tasks, such as DLO grabbing, DLO pulling, DLO end-tip position controlling, etc. Using the Mujoco physics simulator, we demonstrate that our framework can efficiently and effectively learn five different DLO manipulation tasks with the same framework parameters. We further provide a thorough analysis of learned policies, reward functions, and reduced observations for a comprehensive understanding of the framework.

Key facts. Cited by 4 papers in the map (data through 14 Oct 2026). Builds on 25 of its 39 references that are in the map. First posted on arXiv 23 Dec 2023.

Builds on

25 of 39 references.

References · 25

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2019Solving Rubik's Cube with a Robot Handcited by 734
  3. 2017Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrationscited by 715
  4. 2018Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experiencecited by 217
  5. 2019Deep Dynamics Models for Learning Dexterous Manipulationcited by 206
  6. 2021A System for General In-Hand Object Re-Orientationcited by 165
  7. 2022DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Realitycited by 149
  8. 2020SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulationcited by 121
  9. 2022Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learningcited by 119
  10. 2020Sample Factory: Egocentric 3D Control from Pixels at 100000 FPS with Asynchronous Reinforcement Learningcited by 93
  11. 2020Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networkscited by 78
  12. 2020Learning Predictive Representations for Deformable Objects Using Contrastive Estimationcited by 72
13 more
  1. 2019Cable Manipulation with a Tactile-Reactive Grippercited by 46
  2. 2019Self-Supervised Learning of State Estimation for Manipulating Deformable Linear Objectscited by 45
  3. 2021Challenges and Outlook in Robotic Manipulation of Deformable Objectscited by 43
  4. 2021Planar Robot Casting with Real2Sim2Real Self-Supervised Learningcited by 39
  5. 2022Iterative Residual Policy: for Goal-Conditioned Dynamic Manipulation of Deformable Objectscited by 37
  6. 2023DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Trainingcited by 29
  7. 2020Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cablescited by 21
  8. 2020Learning Pregrasp Manipulation of Objects from Ungraspable Posescited by 9
  9. 2022Autonomously Untangling Long Cablescited by 9
  10. 2021In-air Knotting of Rope using Dual-Arm Robot based on Deep Learningcited by 7
  11. 2023Generalizable whole-body global manipulation of deformable linear objects by dual-arm robot in 3-D constrained environmentscited by 6
  12. 2022Learning to Estimate 3-D States of Deformable Linear Objects from Single-Frame Occluded Point Cloudscited by 5
  13. 2021Shape Control of Deformable Linear Objects with Offline and Online Learning of Local Linear Deformation Modelscited by 4

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Cited by year

Citing papers per year: 2024: 1; 2025: 3.

4 papers.

  1. 2025GarmentPile: Point-Level Visual Affordance Guided Retrieval and Adaptation for Cluttered Garments Manipulationcited by 9
  2. 2024Offline Goal-Conditioned Reinforcement Learning for Shape Control of Deformable Linear Objectscited by 2
  3. 2025Hierarchical DLO Routing with Reinforcement Learning and In-Context Vision-language Modelscited by 2
  4. 2025PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policycited by 1