{"id":"https://openalex.org/W7084130772","doi":"https://doi.org/10.1109/case58245.2025.11164065","title":"ARMOR: Egocentric Perception for Bimanual Robot Collision Avoidance and Motion Planning","display_name":"ARMOR: Egocentric Perception for Bimanual Robot Collision Avoidance and Motion Planning","publication_year":2025,"publication_date":"2025-08-17","ids":{"openalex":"https://openalex.org/W7084130772","doi":"https://doi.org/10.1109/case58245.2025.11164065"},"language":"en","primary_location":{"id":"doi:10.1109/case58245.2025.11164065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11164065","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-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":null,"display_name":"Daehwa Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Daehwa Kim","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mario Srouji","orcid":null},"institutions":[{"id":"https://openalex.org/I4210107260","display_name":"Apple (United Kingdom)","ror":"https://ror.org/01vpeym60","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210107260"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mario Srouji","raw_affiliation_strings":["Apple"],"affiliations":[{"raw_affiliation_string":"Apple","institution_ids":["https://openalex.org/I4210107260"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chen Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210107260","display_name":"Apple (United Kingdom)","ror":"https://ror.org/01vpeym60","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210107260"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chen Chen","raw_affiliation_strings":["Apple"],"affiliations":[{"raw_affiliation_string":"Apple","institution_ids":["https://openalex.org/I4210107260"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jian Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210107260","display_name":"Apple (United Kingdom)","ror":"https://ror.org/01vpeym60","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210107260"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jian Zhang","raw_affiliation_strings":["Apple"],"affiliations":[{"raw_affiliation_string":"Apple","institution_ids":["https://openalex.org/I4210107260"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":5.7199,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.96525118,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"9","last_page":"15"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.6581000089645386,"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"}},"topics":[{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.6581000089645386,"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/T13067","display_name":"Geological Modeling and Analysis","score":0.031599998474121094,"subfield":{"id":"https://openalex.org/subfields/1906","display_name":"Geochemistry and Petrology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14311","display_name":"Electrical and Electromagnetic Research","score":0.02019999921321869,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7020000219345093},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6223000288009644},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5929999947547913},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5705000162124634},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5333999991416931},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4828000068664551},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.45730000734329224},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.43220001459121704}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7020000219345093},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6498000025749207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6248000264167786},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6223000288009644},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5996000170707703},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5929999947547913},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5705000162124634},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5333999991416931},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4828000068664551},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.45730000734329224},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.43220001459121704},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42309999465942383},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.38359999656677246},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.3831000030040741},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3393999934196472},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.3393000066280365},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33399999141693115},{"id":"https://openalex.org/C48575856","wikidata":"https://www.wikidata.org/wiki/Q852504","display_name":"Motion perception","level":3,"score":0.3010999858379364},{"id":"https://openalex.org/C2780689630","wikidata":"https://www.wikidata.org/wiki/Q2081815","display_name":"Driving simulator","level":2,"score":0.28780001401901245},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2815000116825104},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.2621999979019165},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.26080000400543213},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.2596000134944916}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case58245.2025.11164065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11164065","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","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":18,"referenced_works":["https://openalex.org/W2116113712","https://openalex.org/W2194775991","https://openalex.org/W2968736838","https://openalex.org/W2971856312","https://openalex.org/W2986303149","https://openalex.org/W3090054427","https://openalex.org/W4285102592","https://openalex.org/W4286375138","https://openalex.org/W4312871673","https://openalex.org/W4383109037","https://openalex.org/W4383172031","https://openalex.org/W4385430674","https://openalex.org/W4387124183","https://openalex.org/W4390874599","https://openalex.org/W4391947971","https://openalex.org/W4401415662","https://openalex.org/W4402715951","https://openalex.org/W4410114574"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"arms":[1],"have":[2],"significant":[3],"gaps":[4],"in":[5,17,72,117,149],"their":[6],"sensing":[7],"and":[8,35,57,108,119,146,173],"perception,":[9],"making":[10],"it":[11],"hard":[12],"to":[13,74],"perform":[14,75],"motion":[15,61,134],"planning":[16,135],"dense":[18,106],"environments.":[19],"To":[20],"address":[21],"this,":[22],"we":[23,153],"introduce":[24],"ARMOR,":[25],"a":[26,66,102,114,132],"novel":[27],"egocentric":[28],"perception":[29,50,98,157],"system":[30],"that":[31,95],"integrates":[32],"both":[33],"hardware":[34],"software,":[36],"specifically":[37],"incorporating":[38],"wearable-like":[39],"depth":[40,111],"sensors":[41],"for":[42],"bimanual":[43],"robotic":[44],"platforms":[45],"with":[46,104,113],"arms.":[47],"Our":[48],"distributed":[49],"approach":[51],"enhances":[52],"the":[53,90],"robot\u2019s":[54],"spatial":[55],"awareness,":[56],"facilitates":[58],"more":[59],"agile":[60],"planning.":[62],"We":[63,93,125],"also":[64,126],"train":[65],"transformer-based":[67],"imitation":[68],"learning":[69],"(IL)":[70],"policy":[71,130],"simulation":[73,169],"dynamic":[76],"collision":[77],"avoidance,":[78],"by":[79],"leveraging":[80],"around":[81],"86":[82],"hours":[83],"worth":[84],"of":[85],"human":[86],"realistic":[87],"motions":[88],"from":[89,165],"AMASS":[91],"dataset.":[92],"show":[94],"our":[96,128,155,159],"ARMOR":[97,156],"is":[99],"superior":[100],"against":[101,131],"setup":[103],"multiple":[105],"head-mounted,":[107],"externally":[109],"mounted":[110],"cameras,":[112],"63.7%":[115],"reduction":[116,148],"collisions,":[118,141],"78.7%":[120],"improvement":[121],"on":[122,158],"success":[123,144],"rate.":[124],"compare":[127],"IL":[129],"sampling-based":[133],"expert":[136],"cuRobo,":[137],"showing":[138],"31.6%":[139],"less":[140],"16.9%":[142],"higher":[143],"rate,":[145],"26\u00d7":[147],"computational":[150],"latency.":[151],"Lastly,":[152],"deploy":[154],"real-":[160],"world":[161],"GR1":[162],"humanoid":[163],"robot":[164],"Fourier":[166],"Intelligence.":[167],"The":[168],"environment,":[170],"HW":[171],"description,":[172],"3D":[174],"CAD":[175],"files":[176],"are":[177],"available":[178],"at":[179],"https://daehwakim.com/armor.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
