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

arXiv: https://arxiv.org/abs/2312.15204 · HTML: https://mlsanity.com/paper/2312.15204/

## 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 (most cited first, 25 of 25)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Solving Rubik's Cube with a Robot Hand](https://mlsanity.com/paper/1910.07113/) (2019)
- [Learning Complex Dexterous Manipulation with Deep Reinforcement Learning and Demonstrations](https://mlsanity.com/paper/1709.10087/) (2017)
- [Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience](https://mlsanity.com/paper/1810.05687/) (2018)
- [Deep Dynamics Models for Learning Dexterous Manipulation](https://mlsanity.com/paper/1909.11652/) (2019)
- [A System for General In-Hand Object Re-Orientation](https://mlsanity.com/paper/2111.03043/) (2021)
- [DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality](https://mlsanity.com/paper/2210.13702/) (2022)
- [SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulation](https://mlsanity.com/paper/2011.07215/) (2020)
- [Towards Human-Level Bimanual Dexterous Manipulation with Reinforcement Learning](https://mlsanity.com/paper/2206.08686/) (2022)
- [Sample Factory: Egocentric 3D Control from Pixels at 100000 FPS with Asynchronous Reinforcement Learning](https://mlsanity.com/paper/2006.11751/) (2020)
- [Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks](https://mlsanity.com/paper/2012.03385/) (2020)
- [Learning Predictive Representations for Deformable Objects Using Contrastive Estimation](https://mlsanity.com/paper/2003.05436/) (2020)
- [Cable Manipulation with a Tactile-Reactive Gripper](https://mlsanity.com/paper/1910.02860/) (2019)
- [Self-Supervised Learning of State Estimation for Manipulating Deformable Linear Objects](https://mlsanity.com/paper/1911.06283/) (2019)
- [Challenges and Outlook in Robotic Manipulation of Deformable Objects](https://mlsanity.com/paper/2105.01767/) (2021)
- [Planar Robot Casting with Real2Sim2Real Self-Supervised Learning](https://mlsanity.com/paper/2111.04814/) (2021)
- [Iterative Residual Policy: for Goal-Conditioned Dynamic Manipulation of Deformable Objects](https://mlsanity.com/paper/2203.00663/) (2022)
- [DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training](https://mlsanity.com/paper/2305.12127/) (2023)
- [Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables](https://mlsanity.com/paper/2011.04840/) (2020)
- [Learning Pregrasp Manipulation of Objects from Ungraspable Poses](https://mlsanity.com/paper/2002.06344/) (2020)
- [Autonomously Untangling Long Cables](https://mlsanity.com/paper/2207.07813/) (2022)
- [In-air Knotting of Rope using Dual-Arm Robot based on Deep Learning](https://mlsanity.com/paper/2103.09402/) (2021)
- [Generalizable whole-body global manipulation of deformable linear objects by dual-arm robot in 3-D constrained environments](https://mlsanity.com/paper/2310.09899/) (2023)
- [Learning to Estimate 3-D States of Deformable Linear Objects from Single-Frame Occluded Point Clouds](https://mlsanity.com/paper/2210.01433/) (2022)
- [Shape Control of Deformable Linear Objects with Offline and Online Learning of Local Linear Deformation Models](https://mlsanity.com/paper/2109.11091/) (2021)

## Built on by (most cited first, 4 of 4)

- [GarmentPile: Point-Level Visual Affordance Guided Retrieval and Adaptation for Cluttered Garments Manipulation](https://mlsanity.com/paper/2503.09243/) (2025)
- [Offline Goal-Conditioned Reinforcement Learning for Shape Control of Deformable Linear Objects](https://mlsanity.com/paper/2403.10290/) (2024)
- [Hierarchical DLO Routing with Reinforcement Learning and In-Context Vision-language Models](https://mlsanity.com/paper/2510.19268/) (2025)
- [PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy](https://mlsanity.com/paper/2507.17846/) (2025)

## 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.