{"id":"https://openalex.org/W4407097675","doi":"https://doi.org/10.1109/lra.2025.3537899","title":"Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation With Tools","display_name":"Make a Donut: Hierarchical EMD-Space Planning for Zero-Shot Deformable Manipulation With Tools","publication_year":2025,"publication_date":"2025-02-03","ids":{"openalex":"https://openalex.org/W4407097675","doi":"https://doi.org/10.1109/lra.2025.3537899"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3537899","doi":"https://doi.org/10.1109/lra.2025.3537899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3537899","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2311.02787","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100658703","display_name":"Yang You","orcid":"https://orcid.org/0000-0003-0125-0792","observed_orcids":["https://orcid.org/0000-0003-0125-0792"]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yang You","raw_affiliation_strings":["Department of Computer Science, Stanford University, Stanford, CA, USA","Department of Computer Science, Stanford University, USA"],"raw_orcid":"https://orcid.org/0000-0003-0125-0792","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Computer Science, Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062103412","display_name":"Bokui Shen","orcid":"https://orcid.org/0000-0002-8183-3607","observed_orcids":["https://orcid.org/0000-0002-8183-3607"]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bokui Shen","raw_affiliation_strings":["Department of Computer Science, Stanford University, Stanford, CA, USA","Department of Computer Science, Stanford University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Computer Science, Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050560702","display_name":"Congyue Deng","orcid":"https://orcid.org/0000-0002-0177-218X","observed_orcids":["https://orcid.org/0000-0002-0177-218X"]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Congyue Deng","raw_affiliation_strings":["Department of Computer Science, Stanford University, Stanford, CA, USA","Department of Computer Science, Stanford University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Computer Science, Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101608437","display_name":"Haoran Geng","orcid":"https://orcid.org/0000-0001-8375-7196","observed_orcids":["https://orcid.org/0000-0001-8375-7196"]},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoran Geng","raw_affiliation_strings":["CFCS, Peking University, Beijing, China","CFCS, Peking University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CFCS, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"CFCS, Peking University, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102822814","display_name":"Songlin Wei","orcid":"https://orcid.org/0000-0002-1487-1494","observed_orcids":["https://orcid.org/0000-0002-1487-1494"]},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songlin Wei","raw_affiliation_strings":["CFCS, Peking University, Beijing, China","CFCS, Peking University, China"],"raw_orcid":"https://orcid.org/0000-0002-1487-1494","affiliations":[{"raw_affiliation_string":"CFCS, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"CFCS, Peking University, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075606222","display_name":"He Wang","orcid":"https://orcid.org/0000-0002-3365-4620","observed_orcids":["https://orcid.org/0000-0002-3365-4620"]},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Wang","raw_affiliation_strings":["CFCS, Peking University, Beijing, China","CFCS, Peking University, China"],"raw_orcid":"https://orcid.org/0000-0002-3365-4620","affiliations":[{"raw_affiliation_string":"CFCS, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"CFCS, Peking University, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111954013","display_name":"Leonidas J. Guibas","orcid":"https://orcid.org/0000-0002-8315-4886","observed_orcids":["https://orcid.org/0000-0002-8315-4886"]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leonidas Guibas","raw_affiliation_strings":["Department of Computer Science, Stanford University, Stanford, CA, USA","Department of Computer Science, Stanford University, USA"],"raw_orcid":"https://orcid.org/0000-0002-8315-4886","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Computer Science, Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":1.1112,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.72694161,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":"10","issue":"4","first_page":"3270","last_page":"3277"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.003100000089034438,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0017999999690800905,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/deformable-object-manipulation","display_name":"deformable object manipulation","score":0.9909999966621399},{"id":"https://openalex.org/keywords/hierarchical-planning","display_name":"hierarchical planning","score":0.7839999794960022},{"id":"https://openalex.org/keywords/large-language-models","display_name":"large language models","score":0.8949999809265137},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"model predictive control","score":0.7020000219345093},{"id":"https://openalex.org/keywords/differentiable-physics","display_name":"differentiable physics","score":0.7910000085830688},{"id":"https://openalex.org/keywords/earth-mover-distance","display_name":"earth mover distance","score":0.7400000095367432},{"id":"https://openalex.org/keywords/point-to-point-correspondence","display_name":"point-to-point correspondence","score":0.7549999952316284},{"id":"https://openalex.org/keywords/long-horizon-tasks","display_name":"long-horizon tasks","score":0.6909999847412109},{"id":"https://openalex.org/keywords/tool-selection","display_name":"tool selection","score":0.49900001287460327}],"concepts":[{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.6487517356872559},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5982560515403748},{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.5901976227760315},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5534769892692566},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4996304512023926},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48535075783729553},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.42344406247138977},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.08877965807914734},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.05574944615364075},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2025.3537899","doi":"https://doi.org/10.1109/lra.2025.3537899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3537899","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-b","jufo-2","ki-jl-1","norway-1","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2311.02787","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2311.02787","pdf_url":"https://arxiv.org/pdf/2311.02787","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2311.02787","doi":"https://doi.org/10.48550/arxiv.2311.02787","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2311.02787","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2311.02787","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2311.02787","pdf_url":"https://arxiv.org/pdf/2311.02787","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108"},{"id":"https://openalex.org/F4320322999","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4407097675.pdf","grobid_xml":"https://content.openalex.org/works/W4407097675.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W2566265240","https://openalex.org/W2897105053","https://openalex.org/W2920768993","https://openalex.org/W2968042644","https://openalex.org/W2970529185","https://openalex.org/W2978940263","https://openalex.org/W3040477237","https://openalex.org/W3090004508","https://openalex.org/W3091248659","https://openalex.org/W3127082165","https://openalex.org/W3159812989","https://openalex.org/W3164946289","https://openalex.org/W3213247705","https://openalex.org/W4221152848","https://openalex.org/W4224912544","https://openalex.org/W4225537626","https://openalex.org/W4226352076","https://openalex.org/W4226396459","https://openalex.org/W4229052146","https://openalex.org/W4283819475","https://openalex.org/W4307783330","https://openalex.org/W4308354471","https://openalex.org/W4322825501","https://openalex.org/W4323572061","https://openalex.org/W4382322903","https://openalex.org/W4383097638","https://openalex.org/W4389893295","https://openalex.org/W6847671982","https://openalex.org/W6854929498","https://openalex.org/W7133224126"],"related_works":["https://openalex.org/W4413918122","https://openalex.org/W4401414053","https://openalex.org/W4285160349","https://openalex.org/W4285506181","https://openalex.org/W4416748860","https://openalex.org/W4404988990","https://openalex.org/W4401413650","https://openalex.org/W4362707024","https://openalex.org/W4393027685","https://openalex.org/W4401415878"],"abstract_inverted_index":{"Deformable":[0],"object":[1],"manipulation":[2,82],"stands":[3],"as":[4,29],"one":[5],"of":[6,77],"the":[7,57,63,109,113,117,127,157],"most":[8],"captivating":[9],"yet":[10],"formidable":[11],"challenges":[12],"in":[13,156,174],"robotics.":[14],"While":[15],"previous":[16],"techniques":[17],"have":[18],"predominantly":[19],"relied":[20],"on":[21,53,209],"learning":[22,51],"latent":[23],"dynamics":[24],"through":[25],"demonstrations,":[26,41],"typically":[27],"represented":[28],"either":[30],"particles":[31],"or":[32],"images,":[33],"there":[34],"exists":[35],"a":[36,71,96,102,132,140],"pertinent":[37],"limitation:":[38],"acquiring":[39],"suitable":[40],"especially":[42],"for":[43,131],"long-horizon":[44,80],"tasks,":[45],"can":[46,55],"be":[47],"elusive.":[48],"Moreover,":[49],"basing":[50],"entirely":[52],"demonstrations":[54],"hamper":[56],"model's":[58],"ability":[59],"to":[60,94,101,120,190],"generalize":[61],"beyond":[62],"demonstrated":[64],"tasks.":[65],"In":[66],"this":[67],"work,":[68],"we":[69,138],"introduce":[70],"demonstration-free":[72],"hierarchical":[73],"planning":[74],"approach":[75,205],"capable":[76],"tackling":[78],"intricate":[79],"deformable":[81],"tasks":[83,196],"without":[84,197],"necessitating":[85],"any":[86,198],"training.":[87],"We":[88,201],"employ":[89],"large":[90],"language":[91],"models":[92],"(LLMs)":[93],"articulate":[95],"high-level,":[97],"stage-by-stage":[98],"plan":[99],"corresponding":[100],"specified":[103],"task.":[104],"For":[105],"every":[106],"individual":[107],"stage,":[108],"LLM":[110],"provides":[111],"both":[112,178],"tool's":[114],"name":[115],"and":[116,129,180,192],"Python":[118],"code":[119],"craft":[121],"intermediate":[122],"subgoal":[123,130],"point":[124],"clouds.":[125],"With":[126],"tool":[128],"particular":[133],"stage":[134],"at":[135],"our":[136,169,184,204],"disposal,":[137],"present":[139],"granular":[141],"closed-loop":[142],"model":[143,185],"predictive":[144],"control":[145],"strategy.":[146],"This":[147],"leverages":[148],"Differentiable":[149],"Physics":[150],"with":[151,206],"Point-to-Point":[152],"correspondence":[153],"(DiffPhysics-P2P)":[154],"loss":[155],"Earth":[158],"Mover":[159],"Distance":[160],"(EMD)":[161],"space,":[162],"applied":[163],"iteratively.":[164],"Experimental":[165],"findings":[166],"affirm":[167],"that":[168],"technique":[170],"surpasses":[171],"multiple":[172],"benchmarks":[173],"dough":[175],"manipulation,":[176],"spanning":[177],"short":[179],"long":[181],"horizons.":[182],"Remarkably,":[183],"demonstrates":[186],"robust":[187],"generalization":[188],"capabilities":[189],"novel":[191],"previously":[193],"unencountered":[194],"complex":[195],"preliminary":[199],"demonstrations.":[200],"further":[202],"substantiate":[203],"experimental":[207],"trials":[208],"real-world":[210],"robotic":[211],"platforms.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-11-03T10:50:19.383937","created_date":"2025-02-04T00:00:00"}