{"id":"https://openalex.org/W4285102154","doi":"https://doi.org/10.1109/icra46639.2022.9811777","title":"IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model","display_name":"IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102154","doi":"https://doi.org/10.1109/icra46639.2022.9811777"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811777","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811777","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","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/A5074509165","display_name":"Chung Min Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chung Min Kim","raw_affiliation_strings":["The AUTOLab at University of California,Berkeley","The AUTOLab at University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"The AUTOLab at University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"The AUTOLab at University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084920041","display_name":"Michael Danielczuk","orcid":"https://orcid.org/0000-0002-3858-2312"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Danielczuk","raw_affiliation_strings":["The AUTOLab at University of California,Berkeley","The AUTOLab at University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"The AUTOLab at University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"The AUTOLab at University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064606654","display_name":"Isabella Huang","orcid":"https://orcid.org/0000-0002-4601-2782"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Isabella Huang","raw_affiliation_strings":["University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,USA","Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050342525","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0002-2661-4524"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["The AUTOLab at University of California,Berkeley","The AUTOLab at University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"The AUTOLab at University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"The AUTOLab at University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074509165"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":3.8852,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.95770969,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6180","last_page":"6187"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10784","display_name":"Muscle activation and electromyography studies","score":0.983299970626831,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"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":0.7583000659942627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.68906170129776},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5631076693534851},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5433268547058105},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5420045256614685},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.432483971118927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4230995178222656},{"id":"https://openalex.org/keywords/graphics","display_name":"Graphics","score":0.42143625020980835},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4192531704902649},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41918933391571045},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics","score":0.41187208890914917},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41084030270576477},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3155726194381714},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16872477531433105},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15183770656585693},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1297745704650879},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10873782634735107}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7583000659942627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.68906170129776},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5631076693534851},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5433268547058105},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5420045256614685},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.432483971118927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4230995178222656},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.42143625020980835},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4192531704902649},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41918933391571045},{"id":"https://openalex.org/C77660652","wikidata":"https://www.wikidata.org/wiki/Q150971","display_name":"Computer graphics","level":2,"score":0.41187208890914917},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41084030270576477},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3155726194381714},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16872477531433105},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15183770656585693},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1297745704650879},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10873782634735107},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811777","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811777","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309327","display_name":"Google","ror":"https://ror.org/00njsd438"},{"id":"https://openalex.org/F4320309411","display_name":"University of California Berkeley","ror":"https://ror.org/01an7q238"},{"id":"https://openalex.org/F4320322923","display_name":"Siemens","ror":"https://ror.org/059mq0909"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1808974695","https://openalex.org/W1820657498","https://openalex.org/W1821449194","https://openalex.org/W1897905128","https://openalex.org/W1966716734","https://openalex.org/W1999156278","https://openalex.org/W2029342956","https://openalex.org/W2031367600","https://openalex.org/W2061343052","https://openalex.org/W2064878003","https://openalex.org/W2086983719","https://openalex.org/W2109163007","https://openalex.org/W2115659120","https://openalex.org/W2126477849","https://openalex.org/W2127642969","https://openalex.org/W2137933599","https://openalex.org/W2159242227","https://openalex.org/W2166256694","https://openalex.org/W2168580726","https://openalex.org/W2201912979","https://openalex.org/W2410091565","https://openalex.org/W2485911221","https://openalex.org/W2737420227","https://openalex.org/W2738463421","https://openalex.org/W2773721443","https://openalex.org/W2791516632","https://openalex.org/W2910474428","https://openalex.org/W2953669419","https://openalex.org/W2959076435","https://openalex.org/W2962793652","https://openalex.org/W2963629498","https://openalex.org/W2964239605","https://openalex.org/W3000851735","https://openalex.org/W3035198432","https://openalex.org/W3048889784","https://openalex.org/W3095065393","https://openalex.org/W3102191234","https://openalex.org/W3122738733","https://openalex.org/W3160063234","https://openalex.org/W3178001252","https://openalex.org/W3184473468","https://openalex.org/W3206683563","https://openalex.org/W3207777114","https://openalex.org/W4212847497","https://openalex.org/W4287995734","https://openalex.org/W4307207473","https://openalex.org/W6638368841","https://openalex.org/W6638462419","https://openalex.org/W6684552532","https://openalex.org/W6746713385","https://openalex.org/W6755437240","https://openalex.org/W6772215907","https://openalex.org/W6784720064","https://openalex.org/W6797896937","https://openalex.org/W6800175633","https://openalex.org/W6808276328"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W4287201739","https://openalex.org/W3214990115","https://openalex.org/W2221819563"],"abstract_inverted_index":{"Accurately":[0],"simulating":[1],"whether":[2],"an":[3],"object":[4,45],"will":[5],"be":[6,47],"lifted":[7],"securely":[8],"or":[9],"dropped":[10],"during":[11],"grasping":[12],"is":[13],"a":[14,66,77,113,180],"longstanding":[15],"Sim2Real":[16,104],"challenge.":[17],"Soft":[18],"compliant":[19,53,99],"jaw":[20,100],"tips":[21,101],"are":[22,58,197],"almost":[23],"universally":[24],"used":[25],"with":[26,147,155],"parallel-jaw":[27],"robot":[28,107],"grippers":[29],"due":[30],"to":[31,34,46,61,102,130,169],"their":[32],"ability":[33],"increase":[35],"contact":[36,134],"area":[37],"and":[38,43,55,95,141,158,174,184,194],"friction":[39],"between":[40,51],"the":[41,44,52,93,96],"jaws":[42],"manipulated.":[48],"However,":[49],"interactions":[50],"surfaces":[54],"rigid":[56],"objects":[57,122],"notoriously":[59],"difficult":[60],"model.":[62],"We":[63,109],"introduce":[64],"IPC-GraspSim,":[65],"novel":[67],"grasp":[68,143],"simulator":[69],"that":[70],"extends":[71],"Incremental":[72],"Potential":[73],"Contact":[74],"(IPC)":[75],"-":[76],"highly":[78],"accurate":[79],"collision":[80],"+":[81],"deformation":[82,97],"model":[83],"developed":[84],"in":[85],"2020":[86],"for":[87,106],"computer":[88],"graphics.":[89],"IPC-GraspSim":[90,111,151,163],"models":[91,125,135],"both":[92,131],"dynamics":[94],"of":[98,115,182],"reduce":[103],"gap":[105],"grasping.":[108],"evaluate":[110],"using":[112],"set":[114],"2,000":[116],"physical":[117],"grasps":[118],"across":[119],"16":[120],"adversarial":[121],"where":[123],"analytic":[124,132,172],"perform":[126],"poorly.":[127],"In":[128],"comparison":[129],"quasistatic":[133],"(soft":[136],"point":[137],"contact,":[138],"REACH,":[139],"6DFC)":[140],"dynamic":[142],"simulators":[144],"(Isaac":[145],"Gym":[146],"FleX),":[148],"results":[149],"suggest":[150],"can":[152],"predict":[153],"robustness":[154],"higher":[156],"precision":[157],"recall":[159],"(F1":[160],"=":[161],"0.85).":[162],"increases":[164],"F1":[165],"score":[166],"by":[167],"0.03":[168],"0.20":[170],"over":[171,176],"baselines":[173],"0.09":[175],"Isaac":[177],"Gym,":[178],"at":[179,199],"cost":[181],"8000x":[183],"1.5x":[185],"more":[186],"compute":[187],"time,":[188],"respectively.":[189],"All":[190],"data,":[191],"code,":[192],"videos,":[193],"supplementary":[195],"material":[196],"available":[198],"https://sites.google.com/berkeley.edu/ipcgraspsim.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}