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UniStateDLO: Unified Generative State Estimation and Tracking of Deformable Linear Objects Under Occlusion for Constrained Manipulation
Description
Perception of deformable linear objects (DLOs), such as cables, ropes, and wires, is the cornerstone for successful downstream manipulation. Although vision-based methods have been extensively explored, they remain highly vulnerable to occlusions that commonly arise in constrained manipulation environments due to surrounding obstacles, large and varying deformations, and limited viewpoints. Moreover, the high dimensionality of the state space, the lack of distinctive visual features, and the pre