{"id":"https://openalex.org/W3048108521","doi":"https://doi.org/10.1109/aim43001.2020.9159011","title":"DeepClaw: A Robotic Hardware Benchmarking Platform for Learning Object Manipulation","display_name":"DeepClaw: A Robotic Hardware Benchmarking Platform for Learning Object Manipulation","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3048108521","doi":"https://doi.org/10.1109/aim43001.2020.9159011","mag":"3048108521"},"language":"en","primary_location":{"id":"doi:10.1109/aim43001.2020.9159011","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9159011","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"preprint","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/A5025126700","display_name":"Fang Wan","orcid":"https://orcid.org/0000-0002-8658-1197"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Wan","raw_affiliation_strings":["SUSTech Institute of Robotics, Southern University of Science and Technology and AncoraSpring, Inc, Shenzhen, Guangdong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SUSTech Institute of Robotics, Southern University of Science and Technology and AncoraSpring, Inc, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065636089","display_name":"Haokun Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haokun Wang","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen Guangdong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen Guangdong, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107898135","display_name":"Xiaobo Liu","orcid":"https://orcid.org/0000-0002-1416-6947"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaobo Liu","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen Guangdong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen Guangdong, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065911345","display_name":"Linhan Yang","orcid":"https://orcid.org/0000-0001-7393-0741"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linhan Yang","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen Guangdong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen Guangdong, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028976561","display_name":"Chaoyang Song","orcid":"https://orcid.org/0000-0002-0166-8112"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyang Song","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen Guangdong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen Guangdong, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1489,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.45110154,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2011","last_page":"2018"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9829000234603882,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6834580302238464},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.620810866355896},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5976775884628296},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5402663946151733},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5007944107055664},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4799623489379883},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4790145754814148},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4664895534515381},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.43864572048187256},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.4174804389476776},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33636215329170227},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17395538091659546},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08215972781181335}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6834580302238464},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.620810866355896},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5976775884628296},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5402663946151733},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5007944107055664},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4799623489379883},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4790145754814148},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4664895534515381},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.43864572048187256},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.4174804389476776},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33636215329170227},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17395538091659546},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08215972781181335},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim43001.2020.9159011","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9159011","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W46659105","https://openalex.org/W1503925285","https://openalex.org/W2036637075","https://openalex.org/W2063189785","https://openalex.org/W2101057928","https://openalex.org/W2110762409","https://openalex.org/W2118262422","https://openalex.org/W2128019145","https://openalex.org/W2140173255","https://openalex.org/W2141968766","https://openalex.org/W2154777391","https://openalex.org/W2163605009","https://openalex.org/W2164474021","https://openalex.org/W2201912979","https://openalex.org/W2600030077","https://openalex.org/W2952629144","https://openalex.org/W2962736495","https://openalex.org/W2962936820","https://openalex.org/W2963150697","https://openalex.org/W2966960409","https://openalex.org/W2968585391","https://openalex.org/W2975395092","https://openalex.org/W2990747716","https://openalex.org/W3003195743","https://openalex.org/W3003410126","https://openalex.org/W3028676366","https://openalex.org/W3030919716","https://openalex.org/W3099587965","https://openalex.org/W3103213775","https://openalex.org/W3106250896","https://openalex.org/W4288102901","https://openalex.org/W4297818513","https://openalex.org/W6684191040","https://openalex.org/W6728925229","https://openalex.org/W6740023956","https://openalex.org/W6755243447","https://openalex.org/W6768298390","https://openalex.org/W6769609827","https://openalex.org/W6770858630","https://openalex.org/W6785652829","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W4399363378","https://openalex.org/W4389836226","https://openalex.org/W3158985074","https://openalex.org/W3188433943","https://openalex.org/W3175556393","https://openalex.org/W4391550800","https://openalex.org/W4223569781","https://openalex.org/W4281683636","https://openalex.org/W2471926586","https://openalex.org/W2113884142"],"abstract_inverted_index":{"We":[0,74,106,136],"present":[1,137,192],"DeepClaw":[2,17,142,171],"as":[3],"a":[4,21,31,58,76,95,108,145,149,153,193],"reconfigurable":[5],"benchmark":[6,18],"of":[7,24,34,61,67,79,98,111,140,160,200],"robotic":[8,99,162,188],"hardware":[9,45,72,100,189],"and":[10,54,65,119,129,134,152,206],"task":[11,156,183],"hierarchy":[12],"for":[13,71,103,144,212],"robot":[14,26,35,44,81,104,125,178,201],"learning.":[15,105,202],"The":[16],"aims":[19],"at":[20,57],"mechatronics":[22],"perspective":[23],"the":[25,68,80,89,141,181,185,197],"learning":[27],"problem,":[28],"which":[29],"features":[30],"minimum":[32],"design":[33,78,204],"cell":[36,82],"that":[37,92,167],"can":[38,93,172],"be":[39,173],"easily":[40,174],"reconfigured":[41],"to":[42,87,122],"host":[43,94],"from":[46],"various":[47],"vendors,":[48],"including":[49,114],"manipulators,":[50],"grippers,":[51],"cameras,":[52],"desks,":[53],"objects,":[55],"aiming":[56],"streamlined":[59],"collection":[60],"physical":[62],"manipulation":[63],"data":[64,127],"evaluation":[66],"learned":[69],"skills":[70],"benchmarking.":[73],"provide":[75],"detailed":[77],"with":[83],"readily":[84],"available":[85],"parts":[86],"build":[88],"experiment":[90,130],"environment":[91],"wide":[96],"range":[97],"commonly":[101],"adopted":[102],"propose":[107],"hierarchical":[109],"pipeline":[110],"software":[112],"integration,":[113],"localization,":[115],"recognition,":[116],"grasp":[117],"planning,":[118,121],"motion":[120],"streamline":[123],"learning-based":[124],"control,":[126],"collection,":[128],"validation":[131],"towards":[132],"shareability":[133],"reproducibility.":[135],"benchmarking":[138],"results":[139,165],"system":[143],"baseline":[146],"Tic-Tac-Toe":[147],"task,":[148,151],"bin-clearing":[150],"jigsaw":[154],"puzzle":[155],"using":[157],"three":[158,177],"sets":[159],"standard":[161],"hardware.":[163],"Our":[164],"show":[166],"tasks":[168],"defined":[169],"in":[170,187],"reproduced":[175],"on":[176,196,210],"cells.":[179],"Under":[180],"same":[182],"setup,":[184],"differences":[186],"used":[190],"will":[191],"non-negligible":[194],"impact":[195],"performance":[198],"metrics":[199],"All":[203],"layouts":[205],"codes":[207],"are":[208],"hosted":[209],"Github":[211],"open":[213],"access":[214],"(https://github.com/bionicdl-sustech/DeepClaw).":[215]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}