Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation
Updated 5 h ago · first seen 11 Sept 2026
paper_01M294FT5BN7XTZY6P9S1GQB1T
- Published
- 11 Sept 2026
- T1 · 5 h ago
- arXiv
- 2604.22102
- T1 · 5 h ago
- Category
- cs.RO
- T1 · 5 h ago
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
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
- Arxiv announce type
- replace
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
- arXiv id
- 2604.22102
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
- Categories
- cs.RO, cs.AI, cs.LG
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
- Primary category
- cs.RO
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
- Published
- 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 5 h agohigh
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9
Source tiers
T19
Freshest observation
5 h ago
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Claim history
Official pageofficial_url1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| https://arxiv.org/abs/2604.22102 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Abstractabstract1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| -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/ | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Arxiv announce typearxiv_announce_type1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| replace | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
arXiv idarxiv_id1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| 2604.22102 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Categoriescategories1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| cs.RO, cs.AI, cs.LG | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
PDFpdf_url1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| https://arxiv.org/pdf/2604.22102 | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Primary categoryprimary_category1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| cs.RO | → current | current | arXiv (Atom API + RSS)T1 | high | deterministic |
Publishedpublished_at1
| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| 11 Sept 2026 | → 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 →
New paper: Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation
arxiv
| Source | Document | Type | Tier | Last observed | Snapshots |
|---|---|---|---|---|---|
| arXiv (Atom API + RSS) | rss.arxiv.org/rss/cs.LG | feed | T1· Official | 3 h ago | 1 |
Tier 1 = official/primary, 2 = quality secondary, 3 = community, 4 = unverified. Every snapshot is archived; see all sources and the methodology.