{"id":"https://openalex.org/W4383108552","doi":"https://doi.org/10.1109/icra48891.2023.10160346","title":"Zero-Shot Transfer of Haptics-Based Object Insertion Policies","display_name":"Zero-Shot Transfer of Haptics-Based Object Insertion Policies","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108552","doi":"https://doi.org/10.1109/icra48891.2023.10160346"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 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/A5021658362","display_name":"Samarth Brahmbhatt","orcid":"https://orcid.org/0000-0002-3732-8865"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samarth Brahmbhatt","raw_affiliation_strings":["Intel Labs"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081936060","display_name":"Ankur Deka","orcid":"https://orcid.org/0000-0002-5822-9655"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ankur Deka","raw_affiliation_strings":["Intel Labs"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006466898","display_name":"Andrew Spielberg","orcid":"https://orcid.org/0000-0002-6937-6204"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Spielberg","raw_affiliation_strings":["Massachusetts Institute of Technology","Intel Labs"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101783024","display_name":"Matthias M\u00fcller","orcid":"https://orcid.org/0009-0003-0614-0733"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthias M\u00fcller","raw_affiliation_strings":["Intel Labs"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Labs","institution_ids":["https://openalex.org/I1343180700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8605,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.73226409,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3940","last_page":"3947"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9962999820709229,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9883999824523926,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7773944139480591},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.7502374649047852},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6830506324768066},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6201326847076416},{"id":"https://openalex.org/keywords/transfer","display_name":"Transfer (computing)","score":0.5570597052574158},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5461623668670654},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5263508558273315},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5175732374191284},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5103248953819275},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4869552552700043},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.4594939053058624},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4588322043418884},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.44542422890663147},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.41898268461227417},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3895537853240967},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.37562060356140137},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35099077224731445},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.33598077297210693},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31773608922958374},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.10801184177398682},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09646239876747131}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7773944139480591},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.7502374649047852},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6830506324768066},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6201326847076416},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.5570597052574158},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5461623668670654},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5263508558273315},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5175732374191284},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5103248953819275},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4869552552700043},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.4594939053058624},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4588322043418884},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.44542422890663147},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.41898268461227417},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3895537853240967},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37562060356140137},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35099077224731445},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33598077297210693},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31773608922958374},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.10801184177398682},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09646239876747131},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1576240289","https://openalex.org/W1630678085","https://openalex.org/W1747778109","https://openalex.org/W2018106557","https://openalex.org/W2071014788","https://openalex.org/W2108844143","https://openalex.org/W2112474089","https://openalex.org/W2121092017","https://openalex.org/W2122139236","https://openalex.org/W2144091652","https://openalex.org/W2145339207","https://openalex.org/W2156102255","https://openalex.org/W2158782408","https://openalex.org/W2216736953","https://openalex.org/W2284780761","https://openalex.org/W2416498763","https://openalex.org/W2479200857","https://openalex.org/W2612089457","https://openalex.org/W2736601468","https://openalex.org/W2781935341","https://openalex.org/W2807785345","https://openalex.org/W2904246096","https://openalex.org/W2963311874","https://openalex.org/W2963940579","https://openalex.org/W2967355195","https://openalex.org/W2967717386","https://openalex.org/W2967727187","https://openalex.org/W3012366945","https://openalex.org/W3033312324","https://openalex.org/W3081200565","https://openalex.org/W3081877091","https://openalex.org/W3088304681","https://openalex.org/W3101875589","https://openalex.org/W3130717831","https://openalex.org/W3130984490","https://openalex.org/W3134664367","https://openalex.org/W3173636439","https://openalex.org/W3205950068","https://openalex.org/W3209114271","https://openalex.org/W4287330209","https://openalex.org/W6636808768","https://openalex.org/W6677939520","https://openalex.org/W6716500097","https://openalex.org/W6741002519","https://openalex.org/W6741302124","https://openalex.org/W6757592117","https://openalex.org/W6782766965","https://openalex.org/W6802632727"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703","https://openalex.org/W41015297"],"abstract_inverted_index":{"Humans":[0],"naturally":[1],"exploit":[2],"haptic":[3],"feedback":[4],"during":[5],"contact-rich":[6,79],"tasks":[7],"like":[8,107],"loading":[9,83],"a":[10,14,71,86,135],"dishwasher":[11],"or":[12],"stocking":[13],"bookshelf.":[15],"Current":[16],"robotic":[17],"systems":[18],"focus":[19],"on":[20,26,42],"avoiding":[21],"unexpected":[22],"contact,":[23],"often":[24],"relying":[25],"strategically":[27],"placed":[28],"environment":[29],"sensors.":[30],"Recently,":[31],"contact-exploiting":[32,72],"manipulation":[33,73],"policies":[34],"have":[35],"been":[36],"trained":[37],"in":[38,63,75],"simulation":[39,76],"and":[40,113,123,127,137,142],"deployed":[41],"real":[43,96],"robots.":[44],"However,":[45],"they":[46],"require":[47],"some":[48],"form":[49],"of":[50,82,139],"real-world":[51],"adaptation":[52],"to":[53,94,134],"bridge":[54],"the":[55,78,95],"sim-to-real":[56,121],"gap,":[57],"which":[58,89],"might":[59],"not":[60],"be":[61],"feasible":[62],"all":[64],"scenarios.":[65],"In":[66],"this":[67,104],"paper":[68],"we":[69],"train":[70],"policy":[74,117],"for":[77,103],"household":[80],"task":[81],"plates":[84,138],"into":[85],"slotted":[87],"holder,":[88],"transfers":[90,118],"without":[91],"any":[92],"fine-tuning":[93],"robot.":[97],"We":[98],"investigate":[99],"various":[100],"factors":[101],"necessary":[102],"zero-shot":[105],"transfer,":[106],"time":[108],"delay":[109],"modeling,":[110],"memory":[111],"representation,":[112],"domain":[114],"randomization.":[115],"Our":[116],"with":[119],"minimal":[120],"gap":[122],"significantly":[124],"outperforms":[125],"heuristic":[126],"learnt":[128],"baselines.":[129],"It":[130],"also":[131],"generalizes":[132],"well":[133],"cup":[136],"different":[140],"sizes":[141],"weights.":[143],"The":[144],"project":[145],"website":[146],"is":[147],"https://sites.google.com/view/compliant-object-insertion.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}