{"id":"https://openalex.org/W4404953395","doi":"https://doi.org/10.1109/humanoids58906.2024.10769899","title":"Compact Multi-Object Placement Using Adjacency-Aware Reinforcement Learning","display_name":"Compact Multi-Object Placement Using Adjacency-Aware Reinforcement Learning","publication_year":2024,"publication_date":"2024-11-22","ids":{"openalex":"https://openalex.org/W4404953395","doi":"https://doi.org/10.1109/humanoids58906.2024.10769899"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids58906.2024.10769899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)","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":"https://openalex.org/A5009536196","display_name":"Benedikt Kreis","orcid":"https://orcid.org/0009-0000-1961-1854"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Benedikt Kreis","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","3Lamarr Institute for ML and AI, Bonn, Germany","Humanoid Robots Lab, University of Bonn, Germany","Center for Robotics, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"3Lamarr Institute for ML and AI, Bonn, Germany","institution_ids":[]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065181173","display_name":"Nils Dengler","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nils Dengler","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Center for Robotics, University of Bonn, Germany","3Lamarr Institute for ML and AI, Bonn, Germany","Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"3Lamarr Institute for ML and AI, Bonn, Germany","institution_ids":[]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069729988","display_name":"Jorge de Heuvel","orcid":"https://orcid.org/0000-0002-4493-6148"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jorge de Heuvel","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Humanoid Robots Lab, University of Bonn, Germany","3Lamarr Institute for ML and AI, Bonn, Germany","Center for Robotics, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"3Lamarr Institute for ML and AI, Bonn, Germany","institution_ids":[]},{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103089658","display_name":"Rohit Menon","orcid":"https://orcid.org/0000-0001-9724-1182"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rohit Menon","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Center for Robotics, University of Bonn, Germany","Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068639437","display_name":"Hamsa Datta Perur","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hamsa Perur","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany","Center for Robotics, University of Bonn, Germany","3Lamarr Institute for ML and AI, Bonn, Germany","Humanoid Robots Lab, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"Center for Robotics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"3Lamarr Institute for ML and AI, Bonn, Germany","institution_ids":[]},{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5009536196"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.6593,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.71785691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"698","last_page":"705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9957000017166138,"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/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/grasp","display_name":"GRASP","score":0.8665890097618103},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7693136930465698},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7478517889976501},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6848585605621338},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.622794508934021},{"id":"https://openalex.org/keywords/adjacency-list","display_name":"Adjacency list","score":0.6007104516029358},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5887743830680847},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5807842016220093},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49354422092437744},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4928119480609894},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4849846363067627},{"id":"https://openalex.org/keywords/compact-space","display_name":"Compact space","score":0.44340693950653076},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.424348384141922},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15111008286476135},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12532636523246765},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11241069436073303}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8665890097618103},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7693136930465698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7478517889976501},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6848585605621338},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.622794508934021},{"id":"https://openalex.org/C110484373","wikidata":"https://www.wikidata.org/wiki/Q264398","display_name":"Adjacency list","level":2,"score":0.6007104516029358},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5887743830680847},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5807842016220093},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49354422092437744},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4928119480609894},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4849846363067627},{"id":"https://openalex.org/C18648836","wikidata":"https://www.wikidata.org/wiki/Q381892","display_name":"Compact space","level":2,"score":0.44340693950653076},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.424348384141922},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15111008286476135},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12532636523246765},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11241069436073303},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids58906.2024.10769899","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769899","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2006768240","https://openalex.org/W3036642894","https://openalex.org/W3088158297","https://openalex.org/W3089482831","https://openalex.org/W3090417004","https://openalex.org/W3176290730","https://openalex.org/W3188558100","https://openalex.org/W3199096322","https://openalex.org/W3203302482","https://openalex.org/W4226088469","https://openalex.org/W4312335729","https://openalex.org/W4381322414","https://openalex.org/W4383108538","https://openalex.org/W4389667056","https://openalex.org/W4390190611","https://openalex.org/W4391128770","https://openalex.org/W4391513201","https://openalex.org/W6776730770","https://openalex.org/W6802395018","https://openalex.org/W6804601995"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W4312985843","https://openalex.org/W2583647647","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259","https://openalex.org/W1976950967","https://openalex.org/W2076754931","https://openalex.org/W1564079087","https://openalex.org/W1516164006"],"abstract_inverted_index":{"Close":[0],"and":[1,22,45],"precise":[2],"placement":[3],"of":[4,15,26,109,153],"irregularly":[5],"shaped":[6],"objects":[7,16,85,111,178],"requires":[8],"a":[9,23,69,106,142,147],"skilled":[10],"robotic":[11,148],"system.":[12],"The":[13,155],"manipulation":[14],"that":[17,79,158],"have":[18],"sensitive":[19],"top":[20],"surfaces":[21],"fixed":[24],"set":[25],"neighbors":[27,103],"is":[28],"particularly":[29],"challenging.":[30],"To":[31],"avoid":[32],"damaging":[33],"the":[34,36,43,52,60,94,99,110,124,172,177],"surface,":[35],"robot":[37],"has":[38,49],"to":[39,50,71,90,118,175,181],"grasp":[40],"them":[41],"from":[42],"side,":[44],"during":[46],"placement,":[47,95],"it":[48],"maintain":[51],"spatial":[53,100,183],"relations":[54],"with":[55,102,150],"adjacent":[56],"objects,":[57,130],"while":[58,112,179],"considering":[59],"physical":[61],"gripper":[62,144],"extent.":[63],"In":[64],"this":[65],"work,":[66],"we":[67],"propose":[68],"framework":[70],"learn":[72],"an":[73],"agent":[74,97,160],"based":[75],"on":[76,146],"reinforcement":[77],"learning":[78],"generates":[80],"end-effector":[81],"motions":[82],"for":[83,126],"placing":[84],"as":[86,88,131],"closely":[87],"possible":[89],"one":[91],"another.":[92],"During":[93],"our":[96,139,159],"considers":[98],"constraints":[101],"defined":[104],"in":[105,166],"given":[107],"layout":[108],"avoiding":[113],"collisions.":[114],"Our":[115],"approach":[116,140],"learns":[117],"place":[119],"compact":[120],"object":[121,167],"assemblies":[122],"without":[123],"need":[125],"predefined":[127],"spacing":[128],"between":[129],"required":[132,174],"by":[133],"traditional":[134],"methods.":[135],"We":[136],"thoroughly":[137],"evaluated":[138],"using":[141],"two-finger":[143],"mounted":[145],"arm":[149],"six":[151],"degrees":[152],"freedom.":[154],"results":[156],"demonstrate":[157],"significantly":[161],"outperforms":[162],"two":[163],"baseline":[164],"approaches":[165],"assembly":[168],"compactness,":[169],"thereby":[170],"reducing":[171],"space":[173],"position":[176],"adhering":[180],"specified":[182],"constraints.":[184]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}