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However, most existing research in this area focuses on shape control for a provided explicit goal and does not consider physical constraints, which limits its applicability in many real\u2010world scenarios. In this study, a self\u2010supervised planning and control approach are proposed to address the challenge of rearranging deformable linear objects for implicit goals. Specifically, the context of making both ends of the object reachable (inside the robotic access range) and graspable (outside potential collision regions) by dual\u2010arm robots is considered. Firstly, the object is described with sequential keypoints and the correspondence\u2010based action is parameterized. Secondly, a generator capable of producing multiple explicit targets is developed, which adhere to implicit conditions. Thirdly, value models are learnt to assign the most promising explicit target as guidance and determine the goal\u2010conditioned action. All models within the policy are trained in a self\u2010supervised manner based on data collected from simulations. Importantly, the learned policy can be directly applied to real\u2010world settings since we do not rely on accurate dynamic models. The performance of the new method is validated with simulations and real\u2010world experiments.<\/jats:p>","DOI":"10.1002\/aisy.202400330","type":"journal-article","created":{"date-parts":[[2024,10,31]],"date-time":"2024-10-31T11:40:32Z","timestamp":1730374832000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Rearranging Deformable Linear Objects for Implicit Goals with Self\u2010Supervised Planning and Control"],"prefix":"10.1002","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7652-8958","authenticated-orcid":false,"given":"Shengzeng","family":"Huo","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering The Hong Kong Polytechnic University  Kowloon 000000 Hong Kong"},{"name":"Tencent Robotics X  Shenzhen 518000 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fuji","family":"Hu","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The Hong Kong Polytechnic University  Kowloon 000000 Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fangyuan","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The Hong Kong Polytechnic University  Kowloon 000000 Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Luyin","family":"Hu","sequence":"additional","affiliation":[{"name":"Institute of Electrical and Micro Engineering \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne  Lausanne 1015 Lausanne Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peng","family":"Zhou","sequence":"additional","affiliation":[{"name":"Department of Computer Science The University of Hong Kong  Pokfulam 000000 Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jihong","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Physics, Engineering and Technology University of York  York YO10 5DD UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hesheng","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Automation Shanghai Jiaotong University  Shanghai 200240 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3426-6638","authenticated-orcid":false,"given":"David","family":"Navarro\u2010Alarcon","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The Hong Kong Polytechnic University  Kowloon 000000 Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2024,10,31]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abd8803"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.22229"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.22263"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200072"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3227873"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2869147"},{"key":"e_1_2_10_8_1","first-page":"10002","volume-title":"Proc. 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