Preprint
Sep 2026
FORM: Robot Manipulation through Direct Material Law Identification
When interacting with an unfamiliar deformable material, a robot lacks prior knowledge of its physical properties and how it will respond to applied forces and motion. Rapid online identification is therefore essential for reliable manipulation. We present FORM (From Observed Response to Material laws), which identifie...
S. Tretiakov, Rui-Han Zhao, Cheng-Hsi Hsiao et al.
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