{"id":"https://openalex.org/W4383172035","doi":"https://doi.org/10.1109/icra48891.2023.10161271","title":"Learning Generalizable Pivoting Skills","display_name":"Learning Generalizable Pivoting Skills","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383172035","doi":"https://doi.org/10.1109/icra48891.2023.10161271"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161271","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":"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/A5047827691","display_name":"Xiang Zhang","orcid":"https://orcid.org/0000-0001-7900-5127"},"institutions":[{"id":"https://openalex.org/I4210099960","display_name":"Systems Control (United States)","ror":"https://ror.org/014tted12","country_code":"US","type":"company","lineage":["https://openalex.org/I4210099960"]},{"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":"Xiang Zhang","raw_affiliation_strings":["UC Berkeley,Mechanical Systems Control Lab,Berkeley,CA,USA","Mechanical Systems Control Lab, UC Berkeley, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley,Mechanical Systems Control Lab,Berkeley,CA,USA","institution_ids":["https://openalex.org/I4210099960","https://openalex.org/I95457486"]},{"raw_affiliation_string":"Mechanical Systems Control Lab, UC Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062291876","display_name":"Siddarth Jain","orcid":null},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddarth Jain","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories (MERL),Cambridge,MA,USA","Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories (MERL),Cambridge,MA,USA","institution_ids":["https://openalex.org/I4210159266"]},{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031296968","display_name":"Baichuan Huang","orcid":"https://orcid.org/0000-0002-9658-6071"},"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":"Baichuan Huang","raw_affiliation_strings":["Rutgers University,Department of Computer Science,Piscataway,NJ,USA","Department of Computer Science, Rutgers University, Piscataway, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Computer Science,Piscataway,NJ,USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers University, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I4210099960","display_name":"Systems Control (United States)","ror":"https://ror.org/014tted12","country_code":"US","type":"company","lineage":["https://openalex.org/I4210099960"]},{"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":"Masayoshi Tomizuka","raw_affiliation_strings":["UC Berkeley,Mechanical Systems Control Lab,Berkeley,CA,USA","Mechanical Systems Control Lab, UC Berkeley, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UC Berkeley,Mechanical Systems Control Lab,Berkeley,CA,USA","institution_ids":["https://openalex.org/I4210099960","https://openalex.org/I95457486"]},{"raw_affiliation_string":"Mechanical Systems Control Lab, UC Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062272788","display_name":"Diego Romeres","orcid":"https://orcid.org/0000-0002-8603-2438"},"institutions":[{"id":"https://openalex.org/I4210159266","display_name":"Mitsubishi Electric (United States)","ror":"https://ror.org/053jnhe44","country_code":"US","type":"company","lineage":["https://openalex.org/I1306287861","https://openalex.org/I4210133125","https://openalex.org/I4210159266"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Diego Romeres","raw_affiliation_strings":["Mitsubishi Electric Research Laboratories (MERL),Cambridge,MA,USA","Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories (MERL),Cambridge,MA,USA","institution_ids":["https://openalex.org/I4210159266"]},{"raw_affiliation_string":"Mitsubishi Electric Research Laboratories (MERL), Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210159266"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.6759,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.96395709,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5865","last_page":"5871"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9925000071525574,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9901000261306763,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6753116250038147},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6545592546463013},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6201014518737793},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6093039512634277},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5615606904029846},{"id":"https://openalex.org/keywords/unitary-state","display_name":"Unitary state","score":0.5529098510742188},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5318564772605896},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.46565085649490356},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.4461482763290405},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4171910285949707},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17777684330940247}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6753116250038147},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6545592546463013},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6201014518737793},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6093039512634277},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5615606904029846},{"id":"https://openalex.org/C67820243","wikidata":"https://www.wikidata.org/wiki/Q179164","display_name":"Unitary state","level":2,"score":0.5529098510742188},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5318564772605896},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.46565085649490356},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.4461482763290405},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4171910285949707},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17777684330940247},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161271","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161271","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1959608418","https://openalex.org/W2125188427","https://openalex.org/W2133040789","https://openalex.org/W2158782408","https://openalex.org/W2187089797","https://openalex.org/W2194775991","https://openalex.org/W2567582053","https://openalex.org/W2604763608","https://openalex.org/W2736601468","https://openalex.org/W2785342287","https://openalex.org/W2904246096","https://openalex.org/W2951870616","https://openalex.org/W2952526277","https://openalex.org/W2964259080","https://openalex.org/W3021708257","https://openalex.org/W3042393254","https://openalex.org/W3090054427","https://openalex.org/W3091304796","https://openalex.org/W3190988267","https://openalex.org/W3196603227","https://openalex.org/W3199572097","https://openalex.org/W3204657926","https://openalex.org/W3206241064","https://openalex.org/W3206827162","https://openalex.org/W3210579454","https://openalex.org/W4221143064","https://openalex.org/W4226153708","https://openalex.org/W4285102481","https://openalex.org/W4308242512","https://openalex.org/W4312651496","https://openalex.org/W4389665758","https://openalex.org/W6640963894","https://openalex.org/W6679818365","https://openalex.org/W6736057607","https://openalex.org/W6741002519","https://openalex.org/W6748566876","https://openalex.org/W6757592117","https://openalex.org/W6760698134","https://openalex.org/W6764177528","https://openalex.org/W6776867236","https://openalex.org/W6780114599","https://openalex.org/W6810447665","https://openalex.org/W6846435682"],"related_works":["https://openalex.org/W2468279273","https://openalex.org/W2354198838","https://openalex.org/W1989130879","https://openalex.org/W2103419012","https://openalex.org/W2988126442","https://openalex.org/W1974414866","https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2063982682","https://openalex.org/W2368363778"],"abstract_inverted_index":{"The":[0,26,119],"skill":[1],"of":[2,54,86,114,133],"pivoting":[3,50,61,117],"an":[4,64],"object":[5,66,105,135],"with":[6],"a":[7,43,60],"robotic":[8],"system":[9],"is":[10,122],"challenging":[11],"for":[12,45],"the":[13,19,30,74,83,92,104,109,115,134],"external":[14],"forces":[15],"that":[16],"act":[17],"on":[18,63,103],"system,":[20],"mainly":[21],"given":[22],"by":[23,78],"contact":[24],"interaction.":[25],"complexity":[27],"increases":[28],"when":[29],"same":[31],"skills":[32],"are":[33],"required":[34],"to":[35,81,90,95,107,140,146,151],"generalize":[36],"across":[37],"different":[38],"objects.":[39,88,142,153],"This":[40],"paper":[41],"proposes":[42],"framework":[44],"learning":[46,80],"robust":[47],"and":[48,111,136,149],"generalizable":[49],"skills,":[51],"which":[52],"consists":[53],"three":[55],"steps.":[56],"First,":[57],"we":[58,72,98],"learn":[59,99],"policy":[62,94],"\u201cunitary\u201d":[65],"using":[67],"Reinforcement":[68],"Learning":[69],"(RL).":[70],"Then,":[71],"obtain":[73],"object's":[75],"feature":[76],"space":[77,113],"supervised":[79],"encode":[82],"kinematic":[84],"properties":[85],"arbitrary":[87],"Finally,":[89],"adapt":[91],"unitary":[93],"multiple":[96,152],"objects,":[97],"data-driven":[100],"projections":[101],"based":[102],"features":[106],"adjust":[108],"state":[110],"action":[112],"new":[116],"task.":[118],"proposed":[120],"approach":[121],"entirely":[123],"trained":[124],"in":[125],"simulation.":[126],"It":[127],"requires":[128],"only":[129],"one":[130],"depth":[131],"image":[132],"can":[137],"zero-shot":[138],"transfer":[139,148],"real-world":[141],"We":[143],"demonstrate":[144],"robustness":[145],"sim-to-real":[147],"generalization":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}