{"id":"https://openalex.org/W7166533561","doi":"https://doi.org/10.48550/arxiv.2606.27603","title":"Learning to Throw: Agile and Accurate Cable-Suspended Payload Delivery with a Quadrotor","display_name":"Learning to Throw: Agile and Accurate Cable-Suspended Payload Delivery with a Quadrotor","publication_year":2026,"publication_date":"2026-06-25","ids":{"openalex":"https://openalex.org/W7166533561","doi":"https://doi.org/10.48550/arxiv.2606.27603"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.27603","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27603","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":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.27603","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076132844","display_name":"Yifan Zhai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhai, Yifan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139627387","display_name":"Elia Raimondi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Raimondi, Elia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139625400","display_name":"Yunfan Ren","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ren, Yunfan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092418578","display_name":"Ismail Geles","orcid":"https://orcid.org/0009-0006-2940-0675"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Geles, Ismail","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093266400","display_name":"Yannick Armati","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Armati, Yannick","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031291897","display_name":"Jiaxu Xing","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xing, Jiaxu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139622509","display_name":"Davide Scaramuzza","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Scaramuzza, Davide","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":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.2535000145435333,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.2535000145435333,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.07050000131130219,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.06069999933242798,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.8417999744415283},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5677000284194946},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5281999707221985},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.48410001397132874},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.47510001063346863},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.36500000953674316},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.35749998688697815},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.3458000123500824},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.34130001068115234},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.33880001306533813}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8417999744415283},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6193000078201294},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5677000284194946},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5281999707221985},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.48410001397132874},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.47510001063346863},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4325999915599823},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39089998602867126},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.36500000953674316},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.35749998688697815},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3544999957084656},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3490999937057495},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.3458000123500824},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.34130001068115234},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.33880001306533813},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.3312999904155731},{"id":"https://openalex.org/C162932704","wikidata":"https://www.wikidata.org/wiki/Q1058791","display_name":"Synchronizing","level":3,"score":0.31709998846054077},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3009999990463257},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.29989999532699585},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C190839683","wikidata":"https://www.wikidata.org/wiki/Q2448197","display_name":"Train","level":2,"score":0.2992999851703644},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.29739999771118164},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.2946999967098236},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.29159998893737793},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.2870999872684479},{"id":"https://openalex.org/C2777145635","wikidata":"https://www.wikidata.org/wiki/Q515636","display_name":"FIFO (computing and electronics)","level":2,"score":0.2847000062465668},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.27309998869895935},{"id":"https://openalex.org/C2781018962","wikidata":"https://www.wikidata.org/wiki/Q5164884","display_name":"Container (type theory)","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.2676999866962433},{"id":"https://openalex.org/C32802771","wikidata":"https://www.wikidata.org/wiki/Q2443617","display_name":"Port (circuit theory)","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C2776397876","wikidata":"https://www.wikidata.org/wiki/Q1450531","display_name":"Cyberinfrastructure","level":2,"score":0.26159998774528503},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.2587999999523163},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2578999996185303},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.257099986076355},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.2556000053882599},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.2531999945640564},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.2524000108242035},{"id":"https://openalex.org/C75291252","wikidata":"https://www.wikidata.org/wiki/Q1315756","display_name":"TRACE (psycholinguistics)","level":2,"score":0.25189998745918274}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.27603","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27603","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":"doi:10.48550/arxiv.2606.27603","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.27603","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":false,"raw_source_name":null,"raw_type":"Preprint"},"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":{"Quadrotors":[0],"offer":[1],"the":[2,29,35,65,105,118,149,152,156,161,169,180,184,194,216,229,232],"agility":[3],"needed":[4],"to":[5,58,138,166,174,213,231],"rapidly":[6],"transport":[7,20],"suspended":[8],"payloads":[9],"during":[10],"time-critical":[11],"applications,":[12],"including":[13],"search-and-rescue":[14],"and":[15,21,48,64,98,168],"medical":[16],"delivery.":[17],"While":[18],"suspended-payload":[19,119],"traversal":[22],"for":[23,95],"these":[24,51,76,188],"missions":[25],"are":[26],"well":[27],"studied,":[28],"highly":[30],"dynamic":[31,224],"targeted":[32],"release":[33],"of":[34,68,117,151,187,215],"payload":[36,99,136],"remains":[37],"comparatively":[38],"underexplored.":[39],"State-of-the-art":[40],"approaches":[41],"typically":[42],"rely":[43],"on":[44,143],"model-based":[45,157],"trajectory":[46],"optimization":[47],"tracking;":[49],"however,":[50],"methods":[52],"often":[53],"yield":[54],"sub-optimal":[55],"performance":[56],"due":[57],"conservative":[59],"feasibility":[60],"constraints,":[61],"tracking":[62],"errors,":[63],"inherent":[66],"difficulty":[67],"analytically":[69],"modeling":[70],"flexible":[71],"rope":[72,97],"dynamics.":[73],"To":[74,219],"overcome":[75],"limitations,":[77],"we":[78,111,124,227],"propose":[79],"a":[80,86,92,113,126,198],"hybrid":[81],"simulation":[82,116,182],"framework":[83],"that":[84,132,179,193,214],"couples":[85],"high-fidelity":[87],"analytical":[88],"quadrotor":[89],"model":[90],"with":[91],"physics":[93],"solver":[94],"complex":[96],"interactions.":[100],"By":[101],"exchanging":[102],"forces":[103],"between":[104],"two":[106],"domains":[107],"at":[108],"every":[109],"step,":[110],"obtain":[112],"physically":[114],"accurate":[115,135],"system.":[120],"Leveraging":[121],"this":[122],"environment,":[123],"train":[125],"deep":[127],"reinforcement":[128],"learning":[129],"(RL)":[130],"policy":[131,147,199],"executes":[133],"agile,":[134],"throws":[137],"designated":[139],"targets.":[140],"Deployed":[141],"zero-shot":[142],"hardware,":[144],"our":[145],"RL":[146],"pushes":[148],"boundary":[150],"agility-accuracy":[153],"trade-off,":[154],"outperforming":[155],"baseline":[158],"by":[159,164,172,201],"reducing":[160],"landing":[162],"error":[163],"up":[165,173],"50%":[167],"throw":[170],"duration":[171],"30%.":[175],"Ablation":[176],"studies":[177],"confirm":[178],"coupled":[181],"is":[183],"key":[185],"enabler":[186],"gains.":[189],"We":[190],"further":[191],"show":[192],"same":[195],"pipeline":[196],"trains":[197],"driven":[200],"visual":[202],"observations":[203],"rather":[204],"than":[205],"an":[206],"explicit":[207],"state":[208],"estimate,":[209],"achieving":[210],"accuracy":[211],"comparable":[212],"state-based":[217],"policy.":[218],"accelerate":[220],"future":[221],"research":[222],"in":[223],"aerial":[225],"manipulation,":[226],"open-source":[228],"simulator":[230],"community":[233],"upon":[234],"acceptance.":[235]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-30T00:00:00"}
