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arXiv · 2609.23432

RopeFormer: Cross-Trial Adaptation from Interaction History for Dynamic Rope Manipulation

Menglin Wu·Kaixiang Yao·Shangbo Luan·Masayoshi Tomizuka·Yuxin Chen
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Abstract

Dynamic rope manipulation is highly sensitive to unknown object dynamics: the same robot motion can produce substantially different responses across ropes, while explicitly identifying the relevant physical properties is difficult. We present RopeFormer, a history-conditioned framework that uses prior task interaction as context for subsequent control. The policy retains cross-trial action-response history while keeping its weights fixed and requires no explicit online rope-parameter estimation. In matched simulation evaluations across sustained single-arm rotation, bimanual rotation, and transient whipping, retaining context improves subsequent control relative to resetting the same checkpoint, with the benefit varying across rope dynamics and observation settings. We further deploy the frozen policies on a Unitree H1-2 with previously unseen physical ropes. From T1 to T3, target-acquisition time decreases by 30.9% for Rope Swing and 33.9% for Rope Twirl, while mean Rope Whip target hits increase from 0.2 to 2.3 out of three. These results show that prior interaction can provide effective control context for dynamic deformable-object manipulation. Robot videos, code, and data are available at https://ropeformer.github.io/.

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Menglin Wu, Kaixiang Yao, Shangbo Luan, Masayoshi Tomizuka, Yuxin Chen. 2026-09-20. RopeFormer: Cross-Trial Adaptation from Interaction History for Dynamic Rope Manipulation. https://arxiv.org/abs/2609.23432

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