{"id":"https://openalex.org/W7225325709","doi":"https://doi.org/10.5302/j.icros.2026.26.0226","title":"A Humanoid Automation Framework Integrating Task and Object Awareness With Model-based Control for Process-oriented Tasks","display_name":"A Humanoid Automation Framework Integrating Task and Object Awareness With Model-based Control for Process-oriented Tasks","publication_year":2026,"publication_date":"2026-11-06","ids":{"openalex":"https://openalex.org/W7225325709","doi":"https://doi.org/10.5302/j.icros.2026.26.0226"},"language":"en","primary_location":{"id":"doi:10.5302/j.icros.2026.26.0226","doi":"https://doi.org/10.5302/j.icros.2026.26.0226","is_oa":false,"landing_page_url":"https://doi.org/10.5302/j.icros.2026.26.0226","pdf_url":null,"source":{"id":"https://openalex.org/S4210183236","display_name":"Journal of Institute of Control Robotics and Systems","issn_l":"1976-5622","issn":["1976-5622","2233-4335"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["kci-registered","poland-40","russia-white-list-2"],"host_organization":"https://openalex.org/P4323366859","host_organization_name":"Institute of Control, Robotics and Systems","host_organization_lineage":["https://openalex.org/P4323366859"],"host_organization_lineage_names":["Institute of Control, Robotics and Systems"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Institute of Control, Robotics and Systems","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076219237","display_name":"\ud669\ucc2c\uc2dd","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chansik Hwang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160860966","display_name":"Chanwoo Jeong","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chanwoo Jeong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160894306","display_name":"Junju Park","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Junju Park","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5160831150","display_name":"Sungjun Heo","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sungjun Heo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088814754","display_name":"Jaehoon An","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jaehoon An","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5160800897","display_name":"Inho Lee","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Inho Lee","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"32","issue":"11","first_page":"1466","last_page":"1476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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":0.9990000128746033,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.00019999999494757503,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":9.999999747378752e-05,"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/humanoid-robots","display_name":"humanoid robots","score":0.8100000023841858},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"visual servoing","score":0.7099999785423279},{"id":"https://openalex.org/keywords/object-pose-estimation","display_name":"object pose estimation","score":0.9710000157356262},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"inverse kinematics","score":0.8299999833106995},{"id":"https://openalex.org/keywords/manipulability","display_name":"manipulability","score":0.7329999804496765},{"id":"https://openalex.org/keywords/vision-language-action-models","display_name":"vision-language-action models","score":0.4309999942779541}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.784500002861023},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6832000017166138},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.6746000051498413},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6377999782562256},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.620199978351593},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.60589998960495},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.48350000381469727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4643999934196472},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3871000111103058},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38510000705718994},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30720001459121704},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.2752000093460083},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2687999904155731},{"id":"https://openalex.org/C118974865","wikidata":"https://www.wikidata.org/wiki/Q7300773","display_name":"Real-time Control System","level":3,"score":0.2578999996185303},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2565000057220459},{"id":"https://openalex.org/C21457203","wikidata":"https://www.wikidata.org/wiki/Q4056293","display_name":"Process automation system","level":3,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.5302/j.icros.2026.26.0226","doi":"https://doi.org/10.5302/j.icros.2026.26.0226","is_oa":false,"landing_page_url":"https://doi.org/10.5302/j.icros.2026.26.0226","pdf_url":null,"source":{"id":"https://openalex.org/S4210183236","display_name":"Journal of Institute of Control Robotics and Systems","issn_l":"1976-5622","issn":["1976-5622","2233-4335"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["kci-registered","poland-40","russia-white-list-2"],"host_organization":"https://openalex.org/P4323366859","host_organization_name":"Institute of Control, Robotics and Systems","host_organization_lineage":["https://openalex.org/P4323366859"],"host_organization_lineage_names":["Institute of Control, Robotics and Systems"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Institute of Control, Robotics and Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4400179968","https://openalex.org/W3209078356","https://openalex.org/W7225336212","https://openalex.org/W7124303401","https://openalex.org/W6926714244","https://openalex.org/W79869119","https://openalex.org/W7213467419","https://openalex.org/W608218959","https://openalex.org/W7131483738","https://openalex.org/W4362715094"],"abstract_inverted_index":{"Manufacturing":[0],"and":[1,12,50,57,96,106,116,141,184,210],"logistics":[2],"processes":[3],"often":[4],"involve":[5],"settings":[6],"in":[7,134,157,171],"which":[8,113],"the":[9,127,154,195,199,212],"type,":[10],"quantity,":[11],"sequence":[13],"of":[14,86,92,136,179],"target":[15],"objects":[16],"can":[17],"vary,":[18],"yet":[19],"widely":[20],"used":[21],"visual":[22],"servoing":[23],"techniques":[24],"may":[25,60],"not":[26],"accommodate":[27],"such":[28],"variability.":[29],"To":[30,72],"address":[31],"this":[32,74,76],"limitation,":[33],"recent":[34],"studies":[35],"have":[36],"explored":[37],"end-to-end":[38],"learning-based":[39,104],"VLA":[40],"(Vision":[41],"Language":[42],"Action)":[43],"models;":[44],"however,":[45],"maintaining":[46],"high":[47],"success":[48,177,205],"rates":[49,178],"motion":[51,111,146,162],"precision":[52,115],"under":[53,198],"changing":[54],"object":[55,97,107],"placements":[56],"task":[58,94,105,197,214],"sequences":[59],"require":[61],"demonstration":[62],"data":[63],"covering":[64],"diverse":[65],"process":[66,83],"conditions,":[67,201],"thereby":[68],"increasing":[69],"data-collection":[70],"effort.":[71],"reduce":[73],"burden,":[75],"study":[77],"proposes":[78],"a":[79,103,121,191],"hybrid":[80],"framework":[81,168],"for":[82,181,186],"automation":[84],"composed":[85],"two":[87,172],"complementary":[88],"modules.":[89],"The":[90,148,166],"interpretation":[91],"variable":[93],"instructions":[95],"pose":[98],"estimation":[99],"are":[100],"performed":[101],"by":[102,120],"awareness":[108],"module,":[109],"while":[110],"generation,":[112],"requires":[114],"reliability,":[117],"is":[118,132],"handled":[119],"model-based":[122,149],"manipulation":[123,150],"module.":[124],"Based":[125],"on":[126,194],"estimated":[128],"pose,":[129],"kinematic":[130],"feasibility":[131],"evaluated":[133,170],"terms":[135],"inverse":[137],"kinematics,":[138],"joint":[139],"limits,":[140],"manipulability":[142],"to":[143,208,219],"determine":[144],"task-specific":[145],"targets.":[147],"module":[151],"also":[152],"provides":[153],"required":[155],"workspace":[156],"confined":[158],"environments":[159],"through":[160],"torso-inclusive":[161],"without":[163],"base":[164],"movement.":[165],"proposed":[167],"was":[169],"process-simulating":[173],"tasks,":[174],"achieving":[175],"part-level":[176,204],"94.4%":[180],"part":[182,187],"sorting":[183],"98.0%":[185,209],"insertion.":[188],"Compared":[189],"with":[190],"VLA-based":[192],"method":[193],"insertion":[196],"same":[200],"it":[202],"improved":[203],"from":[206,216],"89.0%":[207],"reduced":[211],"average":[213],"time":[215],"206.6":[217],"s":[218],"173.2":[220],"s.":[221]},"counts_by_year":[],"updated_date":"2026-11-08T12:12:28.789561","created_date":"2026-11-06T00:00:00"}