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原文摘要

Deformable linear object (DLO) manipulation is challenging because high-dimensional configurations, nonlinear contact dynamics, and diverse material and geometric properties produce a broad range of object responses that are both difficult to model and data-intensive to learn. This work studies reinforcement learning for planar manipulation of a one-end-grasped DLO, focusing on training efficiency, observation design, robustness, and zero-shot sim-to-real transfer. We compare three Proximal Policy Optimization training stacks and find that the GPU-parallel MuJoCo Playground stack enables faster convergence and more consistent performance than CPU-based alternatives under the same wall-clock budget. Relative keypoint observations and an asymmetric actor-critic formulation further improve learning efficiency. Policies trained with observation noise, delay, domain randomization, and disturbances achieve simulation success rates of 96.4% for single-point tracking, 98.0% for disturbance recovery, and 88.8% for two-point tracking. Using markerless RGB-D keypoint estimation, the policies transfer without real-world fine-tuning, succeeding in 9/10, 10/10, and 8/10 physical trials, respectively.