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About this paper
Chengxiao Dong, Alessio Caporali, Hongyu Lan, Gianluca Palli
The authors introduce Geometry–Pointer–Flow (GPF), a policy for planar cable shaping that selects a grasp location before generating its motion. They compare geometry-only control with contexts from estimated physical parameters or interaction history. In 470 paired simulation trials, history reduced shape error 9.9%; estimated parameters improved prediction but had no detectable one-step control gain in this tested setup.
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