{"id":"https://openalex.org/W3020984444","doi":"https://doi.org/10.1080/01691864.2020.1757504","title":"Learning efficient push and grasp policy in a totebox from simulation","display_name":"Learning efficient push and grasp policy in a totebox from simulation","publication_year":2020,"publication_date":"2020-05-05","ids":{"openalex":"https://openalex.org/W3020984444","doi":"https://doi.org/10.1080/01691864.2020.1757504","mag":"3020984444"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2020.1757504","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1757504","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","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/A5014311510","display_name":"Peiyuan Ni","orcid":"https://orcid.org/0000-0002-4039-8637"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peiyuan Ni","raw_affiliation_strings":["Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People\u2019s Republic of China","Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People's Republic of China"],"raw_orcid":"https://orcid.org/0000-0002-4039-8637","affiliations":[{"raw_affiliation_string":"Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People\u2019s Republic of China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People's Republic of China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100611963","display_name":"Wenguang Zhang","orcid":"https://orcid.org/0000-0002-2510-1479"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenguang Zhang","raw_affiliation_strings":["Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People\u2019s Republic of China","Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People\u2019s Republic of China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People's Republic of China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101534930","display_name":"Haoruo Zhang","orcid":"https://orcid.org/0000-0002-4508-096X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoruo Zhang","raw_affiliation_strings":["Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People\u2019s Republic of China","Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People\u2019s Republic of China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People's Republic of China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051221275","display_name":"Qixin Cao","orcid":"https://orcid.org/0000-0001-5462-9857"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qixin Cao","raw_affiliation_strings":["Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People\u2019s Republic of China","Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People\u2019s Republic of China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Intelligent Robot Laboratory of SJTU, Shanghai Jiao Tong University, Shanghai, People's Republic of China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5051221275"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.8746,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.72934574,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"34","issue":"13","first_page":"873","last_page":"887"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.991599977016449,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/grasp","display_name":"GRASP","score":0.9490901231765747},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7211554050445557},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6559010148048401},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6030657887458801},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5753219127655029},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.49828171730041504},{"id":"https://openalex.org/keywords/forgetting","display_name":"Forgetting","score":0.49324315786361694},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4567308723926544},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3590371012687683}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9490901231765747},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7211554050445557},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6559010148048401},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6030657887458801},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5753219127655029},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.49828171730041504},{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.49324315786361694},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4567308723926544},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3590371012687683},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2020.1757504","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1757504","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3213872790","display_name":null,"funder_award_id":"61673261","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W32403112","https://openalex.org/W143499627","https://openalex.org/W1510186039","https://openalex.org/W1745334888","https://openalex.org/W1806263934","https://openalex.org/W1892339738","https://openalex.org/W1903029394","https://openalex.org/W1999156278","https://openalex.org/W2004139909","https://openalex.org/W2036637075","https://openalex.org/W2082511574","https://openalex.org/W2109447584","https://openalex.org/W2145339207","https://openalex.org/W2152864241","https://openalex.org/W2201912979","https://openalex.org/W2405660904","https://openalex.org/W2528489519","https://openalex.org/W2533256670","https://openalex.org/W2561266087","https://openalex.org/W2600030077","https://openalex.org/W2626073992","https://openalex.org/W2738801999","https://openalex.org/W2741439293","https://openalex.org/W2773721443","https://openalex.org/W2791992091","https://openalex.org/W2792514232","https://openalex.org/W2810785043","https://openalex.org/W2904207885","https://openalex.org/W2962736495","https://openalex.org/W2962737955","https://openalex.org/W2962746398","https://openalex.org/W2962759351","https://openalex.org/W2962787403","https://openalex.org/W2962793652","https://openalex.org/W2962837436","https://openalex.org/W2962899390","https://openalex.org/W2963033241","https://openalex.org/W2963654160","https://openalex.org/W2963785592","https://openalex.org/W3099587965","https://openalex.org/W3104209333","https://openalex.org/W3112422759","https://openalex.org/W4211241511","https://openalex.org/W4214717370"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2657478029","https://openalex.org/W3146859979","https://openalex.org/W4224220472","https://openalex.org/W2080808138","https://openalex.org/W2626503888","https://openalex.org/W4387962997"],"abstract_inverted_index":{"Usually,":[0],"grasping":[1,54],"in":[2,29,136,162],"a":[3,30,68,91,95,111,137,149],"totebox":[4],"always":[5],"encounters":[6],"bottlenecks":[7],"when":[8],"the":[9,13,18,21,25,78,104,107,117,158],"object":[10,142],"is":[11,50,99,121,134,146],"at":[12,17],"edge":[14],"or":[15],"even":[16],"corner":[19],"of":[20,80],"totebox.":[22],"Meanwhile,":[23],"if":[24],"objects":[26,172],"are":[27],"stacked":[28],"pile,":[31],"there":[32],"may":[33],"be":[34,38],"no":[35],"grasps":[36],"to":[37,52,57,64,76,89,102,180],"selected.":[39],"In":[40,62,152],"this":[41],"paper,":[42],"an":[43],"algorithm":[44,133,156],"based":[45],"on":[46,106],"deep":[47],"reinforcement":[48],"learning":[49],"applied":[51],"combine":[53],"with":[55,59,86,129],"pushing":[56,92],"deal":[58],"these":[60],"cases.":[61],"order":[63],"make":[65,110],"sure":[66],"that":[67],"push":[69],"must":[70],"increase":[71,103],"grasp":[72],"access,":[73],"we":[74],"propose":[75],"apply":[77],"changes":[79],"grasp\u2019s":[81],"quality":[82],"function":[83],"Qg":[84],"combined":[85],"forgetting":[87],"mechanism":[88],"promote":[90],"action.":[93],"Moreover,":[94],"double":[96],"experience":[97],"replay":[98],"set":[100],"up":[101],"search":[105],"boundaries.":[108],"To":[109],"balance":[112],"between":[113],"efficiency":[114],"and":[115,127,144,164,173],"robustness,":[116],"traditional":[118],"policy":[119],"\u03c0(s)=argmax{Qp,Qg}":[120],"improved":[122],"using":[123,140],"acceptance":[124],"thresholds":[125],"Qg\u2217":[126],"Qp\u2217":[128],"99%":[130],"precision.":[131],"Our":[132],"trained":[135],"simulation":[138,163],"environment":[139],"YCB":[141,171],"dataset":[143],"finally":[145],"transferred":[147],"into":[148],"real-world":[150],"environment.":[151],"our":[153,155],"experiment,":[154],"achieves":[157],"best":[159],"results":[160],"both":[161],"real":[165],"world":[166],"(with":[167],"86.67%":[168],"completion":[169,175],"for":[170,176],"83.37%":[174],"novel":[177],"objects)":[178],"compared":[179],"other":[181],"famous":[182],"works.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}