{"id":"https://openalex.org/W2131337842","doi":"https://doi.org/10.1109/icra.2012.6224581","title":"Learning to place new objects","display_name":"Learning to place new objects","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2131337842","doi":"https://doi.org/10.1109/icra.2012.6224581","mag":"2131337842"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224581","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101434522","display_name":"Yun Jiang","orcid":"https://orcid.org/0000-0001-6897-9962"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yun Jiang","raw_affiliation_strings":["Department of Computer Science, Cornell University, Ithaca, NY, USA","Department of Computer Science, Cornell University, Ithaca NY 14850 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Department of Computer Science, Cornell University, Ithaca NY 14850 USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025499043","display_name":"Changxi Zheng","orcid":"https://orcid.org/0000-0002-7463-0289"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changxi Zheng","raw_affiliation_strings":["Department of Computer Science, Cornell University, Ithaca, NY, USA","Department of Computer Science, Cornell University, Ithaca NY 14850 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Department of Computer Science, Cornell University, Ithaca NY 14850 USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102886041","display_name":"Marcus Lim","orcid":"https://orcid.org/0009-0000-9027-8935"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcus Lim","raw_affiliation_strings":["Department of Computer Science, Cornell University, Ithaca, NY, USA","Department of Computer Science, Cornell University, Ithaca NY 14850 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Department of Computer Science, Cornell University, Ithaca NY 14850 USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081220276","display_name":"Ashutosh Saxena","orcid":"https://orcid.org/0000-0002-6657-2285"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashutosh Saxena","raw_affiliation_strings":["Department of Computer Science, Cornell University, Ithaca, NY, USA","Department of Computer Science, Cornell University, Ithaca NY 14850 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Department of Computer Science, Cornell University, Ithaca NY 14850 USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3088","last_page":"3095"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/object","display_name":"Object (grammar)","score":0.7754032611846924},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7677895426750183},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6576464176177979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6421708464622498},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6320062875747681},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6220596432685852},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5590438842773438},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5552781224250793},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5278227925300598},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5006792545318604},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.4919090270996094},{"id":"https://openalex.org/keywords/learning-object","display_name":"Learning object","score":0.46227818727493286},{"id":"https://openalex.org/keywords/rack","display_name":"Rack","score":0.4554566442966461},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.44717973470687866},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3948374390602112},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2026340365409851},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10483932495117188},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07439690828323364}],"concepts":[{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7754032611846924},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7677895426750183},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6576464176177979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6421708464622498},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6320062875747681},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6220596432685852},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5590438842773438},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5552781224250793},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5278227925300598},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5006792545318604},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.4919090270996094},{"id":"https://openalex.org/C2779542340","wikidata":"https://www.wikidata.org/wiki/Q1062461","display_name":"Learning object","level":2,"score":0.46227818727493286},{"id":"https://openalex.org/C2776843527","wikidata":"https://www.wikidata.org/wiki/Q1351382","display_name":"Rack","level":2,"score":0.4554566442966461},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.44717973470687866},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3948374390602112},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2026340365409851},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10483932495117188},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07439690828323364},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems 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}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra.2012.6224581","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224581","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.225.3257","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.225.3257","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://pr.cs.cornell.edu/papers/learning_to_place_new_objects.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.225.7092","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.225.7092","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cornell.edu/%7Ecxzheng/publications/placing_new_obj.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.487.352","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.487.352","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://pr.cs.cornell.edu/papers/learning_to_place_new_objects.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.764.9343","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.764.9343","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://arxiv.org/pdf/1105.3107.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W203400132","https://openalex.org/W1505137317","https://openalex.org/W1563138540","https://openalex.org/W1576520375","https://openalex.org/W1941722086","https://openalex.org/W2000359213","https://openalex.org/W2016876803","https://openalex.org/W2025062188","https://openalex.org/W2033223309","https://openalex.org/W2040279394","https://openalex.org/W2041376653","https://openalex.org/W2070398378","https://openalex.org/W2077654318","https://openalex.org/W2078683742","https://openalex.org/W2119344328","https://openalex.org/W2119821739","https://openalex.org/W2119851068","https://openalex.org/W2123435073","https://openalex.org/W2123967128","https://openalex.org/W2127833308","https://openalex.org/W2131337842","https://openalex.org/W2132142950","https://openalex.org/W2157692698","https://openalex.org/W2157825442","https://openalex.org/W2163462573","https://openalex.org/W2166721725","https://openalex.org/W2169241897","https://openalex.org/W2170341160","https://openalex.org/W2170969000","https://openalex.org/W2542011642","https://openalex.org/W2543474865","https://openalex.org/W4205137954","https://openalex.org/W4239510810","https://openalex.org/W6630368184","https://openalex.org/W6633444213","https://openalex.org/W6637922210","https://openalex.org/W6656866612","https://openalex.org/W6678514604","https://openalex.org/W6684360038","https://openalex.org/W6684916627"],"related_works":["https://openalex.org/W2377223570","https://openalex.org/W2360126784","https://openalex.org/W2358514374","https://openalex.org/W2357743194","https://openalex.org/W3149027463","https://openalex.org/W2033820166","https://openalex.org/W2958580061","https://openalex.org/W2354821064","https://openalex.org/W4391263626","https://openalex.org/W2808464283"],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,52,82,175],"place":[3,177],"objects":[4,179],"in":[5,29,56,141,157],"an":[6,9],"environment":[7],"is":[8,36,154,209],"important":[10],"skill":[11],"for":[12,110],"a":[13,39,48,64,96,106,137,181,198,202],"personal":[14],"robot.":[15],"An":[16],"object":[17,68,86,118,149,200],"should":[18,25,79],"not":[19],"only":[20],"be":[21,27,41,80],"placed":[22,28,54],"stably,":[23],"but":[24],"also":[26,188],"its":[30,142],"preferred":[31,37,133,191],"location/orientation.":[32],"For":[33],"instance,":[34],"it":[35],"that":[38,128],"plate":[40],"inserted":[42],"vertically":[43],"into":[44,201],"the":[45,117,120,126,143,148,151,158,173,194,206],"slot":[46],"of":[47,67,73,116,196],"dish-rack":[49],"as":[50,61,70,72],"compared":[51],"being":[53],"horizontally":[55],"it.":[57],"Unstructured":[58],"environments":[59],"such":[60],"homes":[62],"have":[63],"large":[65],"variety":[66],"types":[69,87],"well":[71],"placing":[74,84,90,95,121,152,197,204],"areas.":[75,91],"Therefore":[76],"our":[77,161,170],"algorithms":[78],"able":[81],"handle":[83],"new":[85,89,199,203],"and":[88,119,132,135,185,211],"These":[92],"reasons":[93],"make":[94],"challenging":[97],"manipulation":[98],"task.":[99],"In":[100,167,193],"this":[101],"work,":[102],"we":[103],"propose":[104],"using":[105],"supervised":[107],"learning":[108,162],"approach":[109],"finding":[111],"good":[112,165],"placements":[113],"given":[114],"point-clouds":[115],"area.":[122],"Our":[123],"method":[124,171],"combines":[125],"features":[127],"capture":[129],"support,":[130],"stability":[131],"configurations,":[134],"uses":[136],"shared":[138],"sparsity":[139],"structure":[140],"parameters.":[144],"Even":[145],"when":[146,187],"neither":[147],"nor":[150],"area":[153],"seen":[155],"previously":[156],"training":[159],"set,":[160],"algorithm":[163],"predicts":[164],"placements.":[166],"robotic":[168],"experiments,":[169],"enables":[172],"robot":[174],"stably":[176],"known":[178],"with":[180],"98%":[182,186],"success":[183,207],"rate":[184,208],"considering":[189],"semantically":[190],"orientations.":[192],"case":[195],"area,":[205],"82%":[210],"72%.":[212]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":8},{"year":2012,"cited_by_count":6}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
