Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation — Paper

Abstract

-cross Abstract: Many robotic tasks are unforgiving; a single mistake in a dynamic throw can lead to unacceptable delays or unrecoverable failure. We introduce Wiggle and Go!, a two-stage framework for zero-shot rope manipulation: a brief, safe wiggle action is observed to predict descriptive rope parameters, which then conditions a trajectory optimizer for zero-shot goal-conditioned execution. Unlike prior dynamic rope manipulation methods that require large real-world datasets or iterative real-world refinement, our identification module is task-agnostic, supporting diverse manipulation policies without retraining. We achieve a 3.55\,cm average accuracy on 3D target striking in real using rope system parameters in comparison to 15.29\,cm for uninformed baselines, and over 50\% success on multi-objective lobbing and draping tasks. Predicted parameters transfer to unseen motions with 0.95 Pearson correlation between simulated and real rope dynamics, indicating that the identification module generalizes across the task corpus. Project website: https://wiggleandgo.github.io/

Authors 9

Arthur Jakobsson, Abhinav Mahajan, Karthik Pullalarevu, Krishna Suresh, Yunchao Yao, Yuemin Mao, Bardienus Duisterhof, Shahram Najam Syed, Jeffrey Ichnowski

Specification

Official page: arxiv.org/abs/2604.22102
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
Arxiv announce type: replace
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
arXiv id: 2604.22102
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
Categories: cs.RO, cs.AI, cs.LG
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
PDF: arxiv.org/pdf/2604.22102
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
Primary category: cs.RO
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh
Published: 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 4 h agohigh

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9

Source tiers

T19

Freshest observation

4 h ago

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None

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Authors: Arthur Jakobsson, Abhinav Mahajan, Karthik Pullalarevu

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Claim history for Categories
Value	Valid from → to	Status	Source	Confidence	Extractor
cs.RO, cs.AI, cs.LG	11 Sept 2026 21:02 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Claims are temporal and append-only: a new observation closes the previous claim (valid_to) instead of overwriting it. Conflicting claims from different sources are kept side by side and flagged — never averaged. Methodology →

11 Sept 2026
New paperPaperWiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation
New paper: Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation
arxiv
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Source documents
Source	Document	Type	Tier	Last observed	Snapshots
arXiv (Atom API + RSS)	rss.arxiv.org/rss/cs.LG	feed	T1· Official	2 h ago	1

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