# SCOPE: Smooth Convex Optimization for Planned Evolution of Deformable Linear Objects

arXiv: https://arxiv.org/abs/2601.19742 · HTML: https://mlsanity.com/paper/2601.19742/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 27 Jan 2026.

## Built on by (most cited first, 1 of 1)

- [Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation](https://mlsanity.com/paper/2604.22102/) (2026)

## Abstract (arXiv)

We present SCOPE, a fast and efficient framework for modeling and manipulating deformable linear objects (DLOs). Unlike conventional energy-based approaches, SCOPE leverages convex approximations to significantly reduce computational cost while maintaining smooth and physically plausible deformations. This trade-off between speed and accuracy makes the method particularly suitable for applications requiring real-time or near-real-time response. The effectiveness of the proposed framework is demonstrated through comprehensive simulation experiments, highlighting its ability to generate smooth shape trajectories under geometric and length constraints.