Learning to Propagate Interaction Effects for Modeling Deformable Linear Objects Dynamics
Yuxuan Yang Johannes A. Stork Todor Stoyanov Yuxuan Yang Johannes A. Stork Todor Stoyanov
Modeling dynamics of deformable linear objects (DLOs), such as cables, hoses, sutures, and catheters, is an important and challenging problem for many robotic manipulation applications. In this paper, we propose the first method to model and learn full 3D dynamics of DLOs from data. Our approach is capable of capturing the complex twisting and bending dynamics of DLOs and allows local effects to p...