Tootfinder

KnotDLO: Toward Interpretable Knot Tying
Holly Dinkel, Raghavendra Navaratna, Jingyi Xiang, Brian Coltin, Trey Smith, Timothy Bretl
https://arxiv.org/abs/2506.22176

KnotDLO: Toward Interpretable Knot Tying
This work presents KnotDLO, a method for one-handed Deformable Linear Object (DLO) knot tying that is robust to occlusion, repeatable for varying rope initial configurations, interpretable for generating motion policies, and requires no human demonstrations or training. Grasp and target waypoints for future DLO states are planned from the current DLO shape. Grasp poses are computed from indexing the tracked piecewise linear curve representing the DLO state based on the current curve shape and a…

Sonnet 153 - CLIII
Cupid laid by his brand and fell asleep:
A maid of Dian's this advantage found,
And his love-kindling fire did quickly steep
In a cold valley-fountain of that ground;
Which borrowed from this holy fire of Love,
A dateless lively heat, still to endure,
And grew a seething bath, which yet men prove
Against strange maladies a sovereign cure.
But at my mistress' eye Love's brand new-fired,
The boy for tria…

Sonnet 153 - CLIII
Cupid laid by his brand and fell asleep:
A maid of Dian's this advantage found,
And his love-kindling fire did quickly steep
In a cold valley-fountain of that ground;
Which borrowed from this holy fire of Love,
A dateless lively heat, still to endure,
And grew a seething bath, which yet men prove
Against strange maladies a sovereign cure.
But at my mistress' eye Love's brand new-fired,
The boy for tria…