The manipulation of deformable objects by robotic systems presents a significant challenge due to their complex and infinite-dimensional configuration spaces. This paper introduces a novel approach to Deformable Object Manipulation (DOM) by emphasizing the identification and manipulation of Structures of Interest (SOIs) in deformable fabric bags. We propose a bimanual manipulation framework that leverages a Graph Neural Network (GNN)-based latent dynamics model to succinctly represent and predict the behavior of t…