{"id":"https://openalex.org/W3207732271","doi":"https://doi.org/10.1109/icra48506.2021.9561630","title":"Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables","display_name":"Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207732271","doi":"https://doi.org/10.1109/icra48506.2021.9561630","mag":"3207732271"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561630","doi":"https://doi.org/10.1109/icra48506.2021.9561630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561630","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2011.04840","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103226976","display_name":"Harry Zhang","orcid":"https://orcid.org/0009-0003-1903-274X","observed_orcids":["https://orcid.org/0009-0003-1903-274X"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harry Zhang","raw_affiliation_strings":["AUTOLab, UC Berkeley (automation.berkeley.edu)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AUTOLab, UC Berkeley (automation.berkeley.edu)","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005587345","display_name":"Jeffrey Ichnowski","orcid":"https://orcid.org/0000-0003-4874-9478","observed_orcids":["https://orcid.org/0000-0003-4874-9478"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey Ichnowski","raw_affiliation_strings":["AUTOLab, UC Berkeley (automation.berkeley.edu)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AUTOLab, UC Berkeley (automation.berkeley.edu)","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041660944","display_name":"Daniel Seita","orcid":"https://orcid.org/0000-0003-2997-3933","observed_orcids":["https://orcid.org/0000-0003-2997-3933"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Seita","raw_affiliation_strings":["AUTOLab, UC Berkeley (automation.berkeley.edu)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AUTOLab, UC Berkeley (automation.berkeley.edu)","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101555506","display_name":"Jonathan Wang","orcid":"https://orcid.org/0000-0003-4173-6594","observed_orcids":["https://orcid.org/0000-0003-4173-6594","https://orcid.org/0000-0001-7221-1964"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Wang","raw_affiliation_strings":["AUTOLab, UC Berkeley (automation.berkeley.edu)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AUTOLab, UC Berkeley (automation.berkeley.edu)","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100340337","display_name":"Huang Huang","orcid":"https://orcid.org/0000-0002-8662-6973","observed_orcids":["https://orcid.org/0000-0002-8662-6973"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huang Huang","raw_affiliation_strings":["AUTOLab, UC Berkeley (automation.berkeley.edu)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AUTOLab, UC Berkeley (automation.berkeley.edu)","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050342525","display_name":"Ken Y. Goldberg","orcid":"https://orcid.org/0000-0002-2661-4524","observed_orcids":["https://orcid.org/0000-0002-2661-4524"]},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["AUTOLab, UC Berkeley (automation.berkeley.edu)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AUTOLab, UC Berkeley (automation.berkeley.edu)","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":9.3255,"has_fulltext":true,"cited_by_count":40,"citation_normalized_percentile":{"value":0.9906555,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4560","last_page":"4567"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.951200008392334,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.951200008392334,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.02800000086426735,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.011800000444054604,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cable-manipulation","display_name":"cable manipulation","score":0.6830000281333923},{"id":"https://openalex.org/keywords/rope-manipulation","display_name":"rope manipulation","score":0.8270000219345093},{"id":"https://openalex.org/keywords/self-supervised-learning","display_name":"self-supervised learning","score":0.8809999823570251},{"id":"https://openalex.org/keywords/robot-arm-motion","display_name":"robot arm motion","score":0.5299999713897705},{"id":"https://openalex.org/keywords/minimum-jerk-trajectory","display_name":"minimum jerk trajectory","score":0.8140000104904175},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"quadratic programming","score":0.8679999709129333},{"id":"https://openalex.org/keywords/ur5-robot","display_name":"UR5 robot","score":0.7450000047683716}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6659383773803711},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6642396450042725},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.644554853439331},{"id":"https://openalex.org/C67139541","wikidata":"https://www.wikidata.org/wiki/Q2858200","display_name":"Apex (geometry)","level":2,"score":0.5663532614707947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5560445785522461},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5123785734176636},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4769284129142761},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.468788743019104},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.45826488733291626},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.45397403836250305},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4318268299102783},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4307253062725067},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4110944867134094},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34017130732536316},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1883496344089508},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15780490636825562},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1360090672969818},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10809311270713806},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra48506.2021.9561630","doi":"https://doi.org/10.1109/icra48506.2021.9561630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561630","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2011.04840","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.04840","pdf_url":"https://arxiv.org/pdf/2011.04840","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2011.04840","doi":"https://doi.org/10.48550/arxiv.2011.04840","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2011.04840","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2011.04840","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.04840","pdf_url":"https://arxiv.org/pdf/2011.04840","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"},{"id":"https://openalex.org/F4320312083","display_name":"Intuitive Surgical","ror":"https://ror.org/05g2n4m79"},{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108"},{"id":"https://openalex.org/F4320316260","display_name":"Graduate Fellowships for Science, Technology, Engineering, and Mathematics Diversity","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3207732271.pdf","grobid_xml":"https://content.openalex.org/works/W3207732271.grobid-xml"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W639693478","https://openalex.org/W1541173870","https://openalex.org/W1609186720","https://openalex.org/W1677182931","https://openalex.org/W1903029394","https://openalex.org/W1931877416","https://openalex.org/W1959608418","https://openalex.org/W1972746767","https://openalex.org/W2018346149","https://openalex.org/W2025468671","https://openalex.org/W2042249853","https://openalex.org/W2051228319","https://openalex.org/W2084531393","https://openalex.org/W2091344462","https://openalex.org/W2099760513","https://openalex.org/W2128811076","https://openalex.org/W2133216470","https://openalex.org/W2138931081","https://openalex.org/W2149355852","https://openalex.org/W2157129648","https://openalex.org/W2163605009","https://openalex.org/W2194775991","https://openalex.org/W2341108136","https://openalex.org/W2419482428","https://openalex.org/W2466672087","https://openalex.org/W2472053385","https://openalex.org/W2492531355","https://openalex.org/W2592285981","https://openalex.org/W2786487443","https://openalex.org/W2808405904","https://openalex.org/W2886380958","https://openalex.org/W2908470496","https://openalex.org/W2925173345","https://openalex.org/W2966271811","https://openalex.org/W2970971581","https://openalex.org/W2976122401","https://openalex.org/W3003169307","https://openalex.org/W3012514211","https://openalex.org/W3038415847","https://openalex.org/W3040477237","https://openalex.org/W3045473040","https://openalex.org/W3090004508","https://openalex.org/W3090993660","https://openalex.org/W3092247831","https://openalex.org/W3100485226","https://openalex.org/W3104733355","https://openalex.org/W3105162718","https://openalex.org/W3137211359","https://openalex.org/W3192021195","https://openalex.org/W3207181464","https://openalex.org/W3210015522","https://openalex.org/W4249571761","https://openalex.org/W6620766015"],"related_works":["https://openalex.org/W3101250140","https://openalex.org/W4397028097","https://openalex.org/W2592285981","https://openalex.org/W7131650426","https://openalex.org/W2157129648","https://openalex.org/W3214160581","https://openalex.org/W4285021310","https://openalex.org/W3129401815","https://openalex.org/W7127656555","https://openalex.org/W2756019185"],"abstract_inverted_index":{"We":[0,116],"explore":[1],"how":[2],"high-speed":[3],"robot":[4,38,53,187],"arm":[5],"motions":[6,86],"can":[7,193],"dynamically":[8,67],"manipulate":[9],"ropes":[10],"and":[11,21,78,95,112,125,127,163,166,179,206,213],"cables":[12,121],"to":[13,39,71,90,96,108],"vault":[14],"over":[15],"obstacles,":[16],"knock":[17],"objects":[18],"from":[19],"pedestals,":[20],"weave":[22],"between":[23],"obstacles.":[24],"In":[25],"this":[26],"paper,":[27],"we":[28],"propose":[29],"a":[30,36,47,58,73,135,144,147,167],"self-supervised":[31],"learning":[32],"framework":[33,45],"that":[34,66,87,143],"enables":[35],"UR5":[37],"perform":[40,72],"these":[41],"three":[42,152],"tasks.":[43],"The":[44,81],"finds":[46],"3D":[48,100],"apex":[49,101,139,149,172,191],"point":[50,102,192],"for":[51],"the":[52,69,99,110,138,151,186,189],"arm,":[54],"which,":[55],"together":[56],"with":[57,75,118,122,146,169],"task-specific":[59,171],"trajectory":[60,82],"function,":[61],"defines":[62],"an":[63],"arcing":[64],"motion":[65],"manipulates":[68],"cable":[70],"task":[74],"varying":[76],"obstacle":[77],"target":[79],"locations.":[80],"function":[83],"computes":[84],"minimum-jerk":[85],"are":[88,216],"constrained":[89],"remain":[91],"within":[92],"joint":[93],"limits":[94],"travel":[97],"through":[98],"by":[103],"repeatedly":[104],"solving":[105],"quadratic":[106],"programs":[107],"find":[109],"shortest":[111],"fastest":[113],"feasible":[114],"motion.":[115],"experiment":[117],"5":[119],"physical":[120],"different":[123],"thickness":[124],"mass":[126],"compare":[128],"performance":[129],"against":[130],"two":[131],"baselines":[132],"in":[133,200,204,209],"which":[134],"human":[136],"chooses":[137],"point.":[140],"Results":[141],"suggest":[142],"baseline":[145,168],"fixed":[148],"across":[150],"tasks":[153],"achieves":[154,174],"respective":[155],"success":[156,182,195],"rates":[157,196],"of":[158,197],"51.7":[159],"%,":[160,162,165,176,178],"36.7":[161],"15.0":[164,180],"human-specified,":[170],"points":[173],"66.7":[175],"56.7":[177],"%":[181,199,203,208],"rate":[183],"respectively,":[184],"while":[185],"using":[188],"learned":[190],"achieve":[194],"81.7":[198],"vaulting,":[201],"65.0":[202],"knocking,":[205],"60.0":[207],"weaving.":[210],"Code,":[211],"data,":[212],"supplementary":[214],"materials":[215],"available":[217],"at":[218],"https://sites.google.com/berkeley.edu/dynrope/home.":[219]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":6}],"updated_date":"2026-10-22T18:32:59.640997","created_date":"2021-10-25T00:00:00"}