Deformable Cluster Manipulation via Whole-Arm Policy Learning

• URL: http://arxiv.org/abs/2507.17085v1
• Date: Tue, 22 Jul 2025 23:58:30 GMT
• Title: Deformable Cluster Manipulation via Whole-Arm Policy Learning
• Authors: Jayadeep Jacob, Wenzheng Zhang, Houston Warren, Paulo Borges, Tirthankar Bandyopadhyay, Fabio Ramos,
• Abstract summary: We propose a novel framework for learning model-free policies integrating two modalities: 3D point clouds and proprioceptive touch indicators.<n>Our reinforcement learning framework leverages a distributional state representation, aided by kernel mean embeddings, to achieve improved training efficiency and real-time inference.<n>We deploy the framework in a power line clearance scenario and observe that the agent generates creative strategies leveraging multiple arm links for de-occlusion.
• Score: 27.54191389134963
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Manipulating clusters of deformable objects presents a substantial challenge with widespread applicability, but requires contact-rich whole-arm interactions. A potential solution must address the limited capacity for realistic model synthesis, high uncertainty in perception, and the lack of efficient spatial abstractions, among others. We propose a novel framework for learning model-free policies integrating two modalities: 3D point clouds and proprioceptive touch indicators, emphasising manipulation with full body contact awareness, going beyond traditional end-effector modes. Our reinforcement learning framework leverages a distributional state representation, aided by kernel mean embeddings, to achieve improved training efficiency and real-time inference. Furthermore, we propose a novel context-agnostic occlusion heuristic to clear deformables from a target region for exposure tasks. We deploy the framework in a power line clearance scenario and observe that the agent generates creative strategies leveraging multiple arm links for de-occlusion. Finally, we perform zero-shot sim-to-real policy transfer, allowing the arm to clear real branches with unknown occlusion patterns, unseen topology, and uncertain dynamics.

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