Fig. 3: Surface-based manipulation of various types of objects.

A rigid object (a solid, uniform square prism block) and the first two white soft objects (a malleable slime) are manipulated using closed-loop control, while the remaining objects are manipulated via open-loop teleoperation to transition between different states, demonstrating the strategy’s versatility across diverse object types. a Rigid object transfer (T), rotation (R), and flipping (F). b Manipulation of soft and deformable objects: adjusting the position or shape of deformable materials in various forms. c Manipulation of different objects, from top left to bottom right: a cookie, a cake in a transparent package, a cotton-stuffed toy fish, a roll of tape, and a bag of unevenly distributed popcorn.