Project page for Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation, accepted to the Conference on Robot Learning (CoRL) 2026.

arXiv · Video · Momentum Lab

Wiggle and Go! is a two-stage framework for zero-shot rope manipulation. A brief, safe wiggle action is observed to predict descriptive rope parameters, which then condition a trajectory optimizer for zero-shot goal-conditioned execution. The identification module is task-agnostic, so the same predicted parameters support diverse manipulation policies without retraining.

If you find this work useful, please cite:

@inproceedings{jakobsson2026wag,
  author    = {Jakobsson, Arthur and Mahajan, Abhinav and Pullalarevu, Karthik and Suresh, Krishna and Yao, Yunchao and Mao, Yuemin and Duisterhof, Bardienus and Syed, Shahram Najam and Ichnowski, Jeffrey},
  title     = {Wiggle and Go! System Identification for Zero-Shot Dynamic Rope Manipulation},
  booktitle = {10th Conference on Robot Learning},
  year      = {2026},
}

This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

This website is based on the Nerfies project page.