{"id":"https://openalex.org/W2918469223","doi":"https://doi.org/10.1109/icra.2019.8793966","title":"Towards Robust Product Packing with a Minimalistic End-Effector","display_name":"Towards Robust Product Packing with a Minimalistic End-Effector","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2918469223","doi":"https://doi.org/10.1109/icra.2019.8793966","mag":"2918469223"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793966","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1903.00984","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076976011","display_name":"Rahul Shome","orcid":"https://orcid.org/0000-0002-1689-9220"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rahul Shome","raw_affiliation_strings":["Computer Science Dept., Rutgers University, New Brunswick, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Dept., Rutgers University, New Brunswick, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009121711","display_name":"Wei Tang","orcid":"https://orcid.org/0000-0001-8879-8325"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei N. Tang","raw_affiliation_strings":["Computer Science Dept., Rutgers University, New Brunswick, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Dept., Rutgers University, New Brunswick, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018151569","display_name":"Chang\u2010Kyu Song","orcid":"https://orcid.org/0000-0001-8305-0633"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changkyu Song","raw_affiliation_strings":["Computer Science Dept., Rutgers University, New Brunswick, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Dept., Rutgers University, New Brunswick, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000037299","display_name":"Chaitanya Mitash","orcid":"https://orcid.org/0000-0002-8547-2634"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chaitanya Mitash","raw_affiliation_strings":["Computer Science Dept., Rutgers University, New Brunswick, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Dept., Rutgers University, New Brunswick, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108614875","display_name":"Hristiyan Kourtev","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hristiyan Kourtev","raw_affiliation_strings":["Computer Science Dept., Rutgers University, New Brunswick, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Dept., Rutgers University, New Brunswick, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076210154","display_name":"Jingjin Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingjin Yu","raw_affiliation_strings":["Computer Science Dept., Rutgers University, New Brunswick, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Dept., Rutgers University, New Brunswick, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068615270","display_name":"Abdeslam Boularias","orcid":"https://orcid.org/0000-0002-5587-4560"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abdeslam Boularias","raw_affiliation_strings":["Computer Science Dept., Rutgers University, New Brunswick, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Dept., Rutgers University, New Brunswick, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas E. Bekris","raw_affiliation_strings":["Computer Science Dept., Rutgers University, New Brunswick, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Dept., Rutgers University, New Brunswick, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1686,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.45165064,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"9007","last_page":"9013"},"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":0.9976999759674072,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9952999949455261,"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/robustness","display_name":"Robustness (evolution)","score":0.7572652101516724},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6891285181045532},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6693527698516846},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5922133922576904},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5818215608596802},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5357920527458191},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4968424141407013},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4625726342201233},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4410863518714905},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43723392486572266},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3600272536277771},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.17288771271705627},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16225296258926392},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08409613370895386}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7572652101516724},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6891285181045532},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6693527698516846},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5922133922576904},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5818215608596802},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5357920527458191},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4968424141407013},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4625726342201233},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4410863518714905},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43723392486572266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3600272536277771},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.17288771271705627},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16225296258926392},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08409613370895386},{"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/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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2019.8793966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793966","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"mag:2918469223","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1903.00984","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:alma.01RUT_INST:11664947300004646","is_oa":false,"landing_page_url":"https://scholarship.libraries.rutgers.edu/esploro/outputs/conferenceProceeding/Towards-Robust-Product-Packing-with-a/991031665670904646","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Proceedings"}],"best_oa_location":{"id":"mag:2918469223","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1903.00984","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.5}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W143499627","https://openalex.org/W1198461769","https://openalex.org/W1522963174","https://openalex.org/W1526868886","https://openalex.org/W1548119923","https://openalex.org/W1971086298","https://openalex.org/W1978580730","https://openalex.org/W1989021449","https://openalex.org/W2005824379","https://openalex.org/W2036637075","https://openalex.org/W2101057470","https://openalex.org/W2109447584","https://openalex.org/W2221752211","https://openalex.org/W2295333855","https://openalex.org/W2405660904","https://openalex.org/W2419056630","https://openalex.org/W2560535692","https://openalex.org/W2599765304","https://openalex.org/W2604662268","https://openalex.org/W2766201361","https://openalex.org/W2773721443","https://openalex.org/W2798255267","https://openalex.org/W2804492292","https://openalex.org/W2950451445","https://openalex.org/W2953240077","https://openalex.org/W2962746398","https://openalex.org/W2963033241","https://openalex.org/W2963150697","https://openalex.org/W2963188159","https://openalex.org/W2963394817","https://openalex.org/W3112422759","https://openalex.org/W4245185805","https://openalex.org/W6605377543","https://openalex.org/W6631711059","https://openalex.org/W6663838641","https://openalex.org/W6679235284","https://openalex.org/W6679300373","https://openalex.org/W6714057483","https://openalex.org/W6728043242","https://openalex.org/W6745284540","https://openalex.org/W6746713385","https://openalex.org/W6751946761"],"related_works":["https://openalex.org/W328120227","https://openalex.org/W42763704","https://openalex.org/W1584600827","https://openalex.org/W2148061366","https://openalex.org/W2284224236","https://openalex.org/W602338051","https://openalex.org/W2046898330","https://openalex.org/W26421743","https://openalex.org/W2513967468","https://openalex.org/W1507237115","https://openalex.org/W1966655621","https://openalex.org/W2507823028","https://openalex.org/W2201097129","https://openalex.org/W1815983343","https://openalex.org/W1686042665","https://openalex.org/W2402123783","https://openalex.org/W142904413","https://openalex.org/W2464403172","https://openalex.org/W1841568483","https://openalex.org/W2700961692"],"abstract_inverted_index":{"Advances":[0],"in":[1,18,42,63],"sensor":[2],"technologies,":[3],"object":[4,185],"detection":[5],"algorithms,":[6],"planning":[7],"frameworks":[8],"and":[9,38,54,106,142,161,187],"hardware":[10,58],"designs":[11],"have":[12],"motivated":[13],"the":[14,125,140,177],"deployment":[15],"of":[16,23,128,139,166,176],"robots":[17],"warehouse":[19],"automation.":[20],"A":[21],"variety":[22],"such":[24,97],"applications,":[25],"like":[26],"order":[27],"fulfillment":[28],"or":[29,44],"packing":[30,98],"tasks,":[31,99],"require":[32],"picking":[33],"objects":[34],"from":[35],"unstructured":[36],"piles":[37],"carefully":[39],"arranging":[40],"them":[41],"bins":[43],"containers.":[45],"Desirable":[46],"solutions":[47],"need":[48],"to":[49,68,72,79,103,145,156,159],"be":[50,157],"low-cost,":[51],"easily":[52],"deployable":[53],"controllable,":[55],"making":[56],"minimalistic":[57],"choices":[59],"desirable.":[60],"The":[61,88,151,164],"challenge":[62],"designing":[64],"an":[65],"effective":[66],"solution":[67],"this":[69],"problem":[70],"relates":[71],"appropriately":[73],"integrating":[74],"multiple":[75,148],"components,":[76],"so":[77],"as":[78,119],"achieve":[80,124],"a":[81,92,107,112,120],"robust":[82,158],"pipeline":[83,94],"that":[84],"minimizes":[85],"failure":[86],"conditions.":[87],"current":[89],"work":[90],"proposes":[91],"complete":[93],"for":[95],"solving":[96],"given":[100],"access":[101],"only":[102],"RGB-D":[104],"data":[105],"single":[108],"robot":[109],"arm":[110],"with":[111],"vacuum-based":[113],"end-effector,":[114],"which":[115,136,180],"is":[116,154,170],"also":[117],"used":[118],"pushing":[121],"finger.":[122],"To":[123],"desired":[126],"level":[127],"robustness,":[129],"three":[130],"key":[131],"manipulation":[132,168,189],"primitives":[133],"are":[134],"identified,":[135],"take":[137],"advantage":[138],"environment":[141],"simple":[143],"operations":[144],"successfully":[146],"pack":[147],"cubic":[149],"objects.":[150],"overall":[152],"approach":[153],"demonstrated":[155],"execution":[160],"perception":[162],"errors.":[163],"impact":[165],"each":[167],"primitive":[169],"evaluated":[171],"by":[172],"considering":[173],"different":[174],"versions":[175],"proposed":[178],"pipeline,":[179],"incrementally":[181],"introduce":[182],"reasoning":[183],"about":[184],"poses":[186],"corrective":[188],"actions.":[190]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
