Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: DextAIRity: Deformable Manipulation Can be a Breeze   This paper introduces DextAIRity, an approach to manipulate deformable
objects using active airflow. In contrast to conventional contact-based
quasi-static manipulations, DextAIRity allows the system to apply dense forces
on out-of-contact surfaces, expands the system's reach range, and provides safe
high-speed interactions. These properties are particularly advantageous when
manipulating under-actuated deformable objects with large surface areas or
volumes. We demonstrate the effectiveness of DextAIRity through two challenging
deformable object manipulation tasks: cloth unfolding and bag opening. We
present a self-supervised learning framework that learns to effectively perform
a target task through a sequence of grasping or air-based blowing actions. By
using a closed-loop formulation for blowing, the system continuously adjusts
its blowing direction based on visual feedback in a way that is robust to the
highly stochastic dynamics. We deploy our algorithm on a real-world three-arm
system and present evidence suggesting that DextAIRity can improve system
efficiency for challenging deformable manipulation tasks, such as cloth
unfolding, and enable new applications that are impractical to solve with
quasi-static contact-based manipulations (e.g., bag opening). Video is
available at https://youtu.be/_B0TpAa5tVo

15
The categories of this paper are: nucl-ex
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The categories of this paper are: adap-org
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The categories of this paper are: chao-dyn
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The categories of this paper are: hep-th
3
The categories of this paper are: physics
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The categories of this paper are: cond-mat
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The categories of this paper are: q-fin
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The categories of this paper are: acc-phys
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The categories of this paper are: bayes-an
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The categories of this paper are: math-ph
0
The categories of this paper are: hep-ph
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The categories of this paper are: nucl-th
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The categories of this paper are: alg-geom
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The categories of this paper are: funct-an
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The categories of this paper are: nlin
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The categories of this paper are: quant-ph