AI RESEARCH
A Distributional Treatment of Real2Sim2Real for Object-Centric Agent Adaptation in Vision-Driven Deformable Linear Object Manipulation
arXiv CS.LG
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ArXi:2502.18615v4 Announce Type: replace-cross We present an integrated (or end-to-end) framework for the Real2Sim2Real problem of manipulating deformable linear objects (DLOs) based on visual perception. Working with a parameterised set of DLOs, we use likelihood-free inference (LFI) to compute the posterior distributions for the physical parameters using which we can approximately simulate the behaviour of each specific DLO. We use these posteriors for domain randomisation while