{"id":"https://openalex.org/W3010945083","doi":"https://doi.org/10.1109/icra40945.2020.9196878","title":"Belief Regulated Dual Propagation Nets for Learning Action Effects on Groups of Articulated Objects","display_name":"Belief Regulated Dual Propagation Nets for Learning Action Effects on Groups of Articulated Objects","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3010945083","doi":"https://doi.org/10.1109/icra40945.2020.9196878","mag":"3010945083"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196878","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.03785","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023501802","display_name":"Ahmet E. Tekden","orcid":"https://orcid.org/0000-0002-1272-0756"},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Ahmet E. Tekden","raw_affiliation_strings":["Bogazici University,Computer Engineering Department,Turkey"],"affiliations":[{"raw_affiliation_string":"Bogazici University,Computer Engineering Department,Turkey","institution_ids":["https://openalex.org/I4405392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000080119","display_name":"Aykut Erdem","orcid":"https://orcid.org/0000-0002-6280-8422"},"institutions":[{"id":"https://openalex.org/I66514158","display_name":"Hacettepe University","ror":"https://ror.org/04kwvgz42","country_code":"TR","type":"education","lineage":["https://openalex.org/I66514158"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Aykut Erdem","raw_affiliation_strings":["Hacettepe University,Computer Engineering Department,Turkey"],"affiliations":[{"raw_affiliation_string":"Hacettepe University,Computer Engineering Department,Turkey","institution_ids":["https://openalex.org/I66514158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074809120","display_name":"Erkut Erdem","orcid":"https://orcid.org/0000-0002-6744-8614"},"institutions":[{"id":"https://openalex.org/I66514158","display_name":"Hacettepe University","ror":"https://ror.org/04kwvgz42","country_code":"TR","type":"education","lineage":["https://openalex.org/I66514158"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Erkut Erdem","raw_affiliation_strings":["Hacettepe University,Computer Engineering Department,Turkey"],"affiliations":[{"raw_affiliation_string":"Hacettepe University,Computer Engineering Department,Turkey","institution_ids":["https://openalex.org/I66514158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058717600","display_name":"Mert Imre","orcid":null},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Mert Imre","raw_affiliation_strings":["Bogazici University,Computer Engineering Department,Turkey"],"affiliations":[{"raw_affiliation_string":"Bogazici University,Computer Engineering Department,Turkey","institution_ids":["https://openalex.org/I4405392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000067053","display_name":"M. Yunus Seker","orcid":"https://orcid.org/0000-0002-2329-9688"},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"M. Yunus Seker","raw_affiliation_strings":["Bogazici University,Computer Engineering Department,Turkey"],"affiliations":[{"raw_affiliation_string":"Bogazici University,Computer Engineering Department,Turkey","institution_ids":["https://openalex.org/I4405392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048165304","display_name":"Emre U\u011fur","orcid":"https://orcid.org/0000-0001-9597-2731"},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Emre Ugur","raw_affiliation_strings":["Bogazici University,Computer Engineering Department,Turkey"],"affiliations":[{"raw_affiliation_string":"Bogazici University,Computer Engineering Department,Turkey","institution_ids":["https://openalex.org/I4405392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5023501802"],"corresponding_institution_ids":["https://openalex.org/I4405392"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02482895,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10556","last_page":"10562"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10028","display_name":"Topic Modeling","score":0.9991999864578247,"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/T10028","display_name":"Topic Modeling","score":0.9991999864578247,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9948999881744385,"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"}},{"id":"https://openalex.org/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.9948999881744385,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.7584294080734253},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6947324275970459},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6351024508476257},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.6161273121833801},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6100501418113708},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.602952778339386},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.5984323024749756},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5702006816864014},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5077406167984009},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4929318428039551},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.47532275319099426},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4521501362323761},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.378459095954895},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2695459723472595},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13952869176864624},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07968702912330627}],"concepts":[{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.7584294080734253},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6947324275970459},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6351024508476257},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6161273121833801},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6100501418113708},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.602952778339386},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.5984323024749756},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5702006816864014},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5077406167984009},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4929318428039551},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.47532275319099426},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4521501362323761},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.378459095954895},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2695459723472595},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13952869176864624},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07968702912330627},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra40945.2020.9196878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196878","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1909.03785","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.03785","pdf_url":"https://arxiv.org/pdf/1909.03785","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":null,"raw_type":"text"},{"id":"mag:3010945083","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1909.03785","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:zenodo.org:4617262","is_oa":true,"landing_page_url":"https://zenodo.org/record/4617262","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"},{"id":"doi:10.48550/arxiv.1909.03785","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1909.03785","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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.03785","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.03785","pdf_url":"https://arxiv.org/pdf/1909.03785","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":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1485009520","https://openalex.org/W1506047933","https://openalex.org/W1522301498","https://openalex.org/W2023016473","https://openalex.org/W2059100041","https://openalex.org/W2064675550","https://openalex.org/W2132322793","https://openalex.org/W2140135625","https://openalex.org/W2181623680","https://openalex.org/W2293598046","https://openalex.org/W2301880263","https://openalex.org/W2419427454","https://openalex.org/W2552391307","https://openalex.org/W2559857813","https://openalex.org/W2562457735","https://openalex.org/W2770604561","https://openalex.org/W2786615588","https://openalex.org/W2945878573","https://openalex.org/W2961918018","https://openalex.org/W2962867885","https://openalex.org/W2963143598","https://openalex.org/W2963149945","https://openalex.org/W2963370555","https://openalex.org/W2963402657","https://openalex.org/W2963504959","https://openalex.org/W2964269434","https://openalex.org/W2967246123","https://openalex.org/W6631190155","https://openalex.org/W6680657880","https://openalex.org/W6686008357","https://openalex.org/W6693682517","https://openalex.org/W6697152211","https://openalex.org/W6712884540","https://openalex.org/W6729508183","https://openalex.org/W6730420370","https://openalex.org/W6746445604","https://openalex.org/W6752737978","https://openalex.org/W6755722174"],"related_works":["https://openalex.org/W3089633944","https://openalex.org/W23174241","https://openalex.org/W2900559324","https://openalex.org/W3094447460","https://openalex.org/W2793219130","https://openalex.org/W3172801164","https://openalex.org/W13121074","https://openalex.org/W2785937356","https://openalex.org/W2960240797","https://openalex.org/W2461838149","https://openalex.org/W2968854004","https://openalex.org/W2555128369","https://openalex.org/W3080495593","https://openalex.org/W3130336107","https://openalex.org/W2569873438","https://openalex.org/W2998059013","https://openalex.org/W2990770808","https://openalex.org/W2972063995","https://openalex.org/W3202523444","https://openalex.org/W2010065335"],"abstract_inverted_index":{"In":[0,33],"recent":[1],"years,":[2],"graph":[3],"neural":[4],"networks":[5,75],"have":[6],"been":[7],"successfully":[8],"applied":[9],"for":[10],"learning":[11],"the":[12,25,55,91,94,98,102,104,108,112,126,131,151,154,164,170,208],"dynamics":[13],"of":[14,57,64,79,97,133,153,178],"complex":[15],"and":[16,77,86,114,140,173,193],"partially":[17,160],"observable":[18,161],"physical":[19],"systems.":[20],"However,":[21],"their":[22,115],"use":[23],"in":[24,60,123,136,159,175],"robotics":[26],"domain":[27],"is,":[28],"to":[29,53,146,169],"date,":[30],"still":[31],"limited.":[32],"this":[34],"paper,":[35],"we":[36],"introduce":[37],"Belief":[38],"Regulated":[39],"Dual":[40],"Propagation":[41],"Networks":[42],"(BRDPN),":[43],"a":[44,51,83,87,124],"general-purpose":[45],"learnable":[46],"physics":[47,84],"engine,":[48],"which":[49],"enables":[50],"robot":[52,127],"predict":[54,130],"effects":[56],"its":[58,134,142,148,204],"actions":[59,135],"scenes":[61],"containing":[62],"groups":[63],"articulated":[65],"multi-part":[66],"objects.":[67],"Specifically,":[68],"our":[69],"framework":[70],"extends":[71],"recently":[72],"proposed":[73],"propagation":[74],"(PropNets)":[76],"consists":[78],"two":[80],"complementary":[81],"components,":[82],"predictor":[85],"belief":[88,149],"regulator.":[89],"While":[90],"former":[92],"predicts":[93],"future":[95],"states":[96],"object(s)":[99],"manipulated":[100],"by":[101],"robot,":[103],"latter":[105],"constantly":[106],"corrects":[107],"robot's":[109],"knowledge":[110],"regarding":[111],"objects":[113,181],"relations.":[116],"Our":[117],"results":[118],"showed":[119,194],"that":[120,195],"after":[121],"training":[122],"simulator,":[125],"can":[128,202,210],"reliably":[129],"consequences":[132],"object":[137],"trajectory":[138],"level":[139],"exploit":[141],"own":[143],"interaction":[144],"experience":[145],"correct":[147],"about":[150],"state":[152],"environment,":[155],"enabling":[156],"better":[157],"predictions":[158],"environments.":[162],"Furthermore,":[163],"trained":[165],"model":[166],"was":[167],"transferred":[168],"real":[171],"world":[172],"verified":[174],"predicting":[176],"trajectories":[177],"pushed":[179],"interacting":[180],"whose":[182],"joint":[183],"relations":[184,209],"were":[185],"initially":[186],"unknown.":[187],"We":[188],"compared":[189],"BRDPN":[190,196,201],"against":[191],"PropNets,":[192],"performs":[197],"consistently":[198],"well.":[199],"Moreover,":[200],"adapt":[203],"physic":[205],"predictions,":[206],"since":[207],"be":[211],"predicted":[212],"online.":[213]},"counts_by_year":[],"updated_date":"2026-03-21T08:13:44.787528","created_date":"2022-07-24T00:00:00"}