{"id":"https://openalex.org/W7127656555","doi":"https://doi.org/10.48550/arxiv.2602.03623","title":"Self-supervised Physics-Informed Manipulation of Deformable Linear Objects with Non-negligible Dynamics","display_name":"Self-supervised Physics-Informed Manipulation of Deformable Linear Objects with Non-negligible Dynamics","publication_year":2026,"publication_date":"2026-02-03","ids":{"openalex":"https://openalex.org/W7127656555","doi":"https://doi.org/10.48550/arxiv.2602.03623"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.03623","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5124977543","display_name":"Youyuan Long","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Long, Youyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078645934","display_name":"G\u00f6khan Solak","orcid":"https://orcid.org/0000-0001-6342-1345"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Solak, Gokhan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120443111","display_name":"Sara Zeynalpour","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeynalpour, Sara","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125026172","display_name":"Heng Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Heng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5070028115","display_name":"Arash Ajoudani","orcid":"https://orcid.org/0000-0002-1261-737X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ajoudani, Arash","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13028878,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6189000010490417,"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":0.6189000010490417,"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/T11206","display_name":"Model Reduction and Neural Networks","score":0.07750000059604645,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.041099999099969864,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.888700008392334},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5769000053405762},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48669999837875366},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.453000009059906},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.451200008392334},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4494999945163727},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.3384000062942505},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.3357999920845032}],"concepts":[{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.888700008392334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.692300021648407},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5769000053405762},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5522000193595886},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49970000982284546},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48669999837875366},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.453000009059906},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.451200008392334},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4494999945163727},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3384000062942505},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.3357999920845032},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.32510000467300415},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.32409998774528503},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.3125999867916107},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3061999976634979},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.3037000000476837},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.30079999566078186},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2930000126361847},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.28859999775886536},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28369998931884766},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.266400009393692},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.26350000500679016},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.25279998779296875}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.03623","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.03623","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.03623","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.03623","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,102],"address":[1],"dynamic":[2,212],"manipulation":[3,213],"of":[4,189,214],"deformable":[5,20,215],"linear":[6,216],"objects":[7],"by":[8,192],"presenting":[9],"SPiD,":[10],"a":[11,35,60,64,81,113,117,204],"physics-informed":[12],"self-supervised":[13,26,52,82],"learning":[14,56],"framework":[15,191,210],"that":[16,85,138,173],"couples":[17],"an":[18,24,165],"accurate":[19],"object":[21,42,75],"model":[22,37],"with":[23,72,178],"augmented":[25],"training":[27],"strategy.":[28],"On":[29,54],"the":[30,55,73,108,134,139,187,190,196],"modeling":[31],"side,":[32,57],"we":[33,58,79,163,185],"extend":[34],"mass-spring":[36],"to":[38,95,120,195],"more":[39],"accurately":[40],"capture":[41],"dynamics":[43],"while":[44],"remaining":[45],"lightweight":[46],"enough":[47],"for":[48,211],"high-throughput":[49],"rollouts":[50],"during":[51,89],"learning.":[53],"train":[59],"neural":[61],"controller":[62,141,175],"using":[63],"task-oriented":[65],"cost,":[66],"enabling":[67],"end-to-end":[68],"optimization":[69],"through":[70],"interaction":[71],"differentiable":[74],"model.":[76],"In":[77],"addition,":[78],"propose":[80],"DAgger":[83],"variant":[84],"detects":[86],"distribution":[87],"shift":[88],"deployment":[90],"and":[91,124,133,144,159,171,180,207],"performs":[92],"offline":[93],"self-correction":[94],"further":[96],"enhance":[97],"robustness":[98],"without":[99],"expert":[100],"supervision.":[101],"evaluate":[103],"our":[104,174],"method":[105,170],"primarily":[106],"on":[107],"rope":[109,119,146,153,168,197],"stabilization":[110],"task,":[111],"where":[112],"robot":[114],"must":[115],"bring":[116],"swinging":[118],"rest":[121],"as":[122,126],"quickly":[123],"smoothly":[125],"possible.":[127],"Extensive":[128],"experiments":[129],"in":[130],"both":[131],"simulation":[132],"real":[135],"world":[136],"demonstrate":[137,172,186],"proposed":[140],"achieves":[142],"fast":[143],"smooth":[145],"stabilization,":[147],"generalizing":[148],"across":[149],"unseen":[150],"initial":[151],"states,":[152],"lengths,":[154],"masses,":[155],"non-uniform":[156],"mass":[157],"distributions,":[158],"external":[160],"disturbances.":[161],"Additionally,":[162],"develop":[164],"affordable":[166],"markerless":[167],"perception":[169],"maintains":[176],"performance":[177],"noisy":[179],"low-frequency":[181],"state":[182],"updates.":[183],"Furthermore,":[184],"generality":[188],"extending":[193],"it":[194],"trajectory":[198],"tracking":[199],"task.":[200],"Overall,":[201],"SPiD":[202],"offers":[203],"data-efficient,":[205],"robust,":[206],"physically":[208],"grounded":[209],"objects,":[217],"featuring":[218],"strong":[219],"sim-to-real":[220],"generalization.":[221]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2026-02-06T00:00:00"}
