{"id":"https://openalex.org/W4383108952","doi":"https://doi.org/10.1109/icra48891.2023.10161366","title":"Focused Adaptation of Dynamics Models for Deformable Object Manipulation","display_name":"Focused Adaptation of Dynamics Models for Deformable Object Manipulation","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108952","doi":"https://doi.org/10.1109/icra48891.2023.10161366"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161366","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/A5072026017","display_name":"Peter Mitrano","orcid":"https://orcid.org/0000-0002-8701-9809"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210111179","display_name":"Michigan United","ror":"https://ror.org/0291ys696","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210111179"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Mitrano","raw_affiliation_strings":["University of Michigan,Department of Robotics,United States","Department of Robotics, University of Michigan, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Robotics,United States","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Robotics, University of Michigan, United States","institution_ids":["https://openalex.org/I27837315","https://openalex.org/I4210111179"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021424850","display_name":"Alex LaGrassa","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex LaGrassa","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,United States","Robotics Institute, Carnegie Mellon University, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,United States","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, United States","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005091065","display_name":"Oliver Kroemer","orcid":"https://orcid.org/0000-0003-2007-3867"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oliver Kroemer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,United States","Robotics Institute, Carnegie Mellon University, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,United States","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, United States","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]},{"id":"https://openalex.org/I4210111179","display_name":"Michigan United","ror":"https://ror.org/0291ys696","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210111179"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["University of Michigan,Department of Robotics,United States","Department of Robotics, University of Michigan, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Robotics,United States","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Department of Robotics, University of Michigan, United States","institution_ids":["https://openalex.org/I27837315","https://openalex.org/I4210111179"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.3518,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.98999478,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5931","last_page":"5937"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9897000193595886,"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":0.9897000193595886,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9793000221252441,"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/T10616","display_name":"Smart Agriculture and AI","score":0.9776999950408936,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7894492149353027},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.754054844379425},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.7402865886688232},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.722809910774231},{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.7144938111305237},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.608289361000061},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46185624599456787},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.44759729504585266},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4309430420398712},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4133411645889282},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3425597548484802},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16776320338249207},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08767625689506531}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7894492149353027},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.754054844379425},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.7402865886688232},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.722809910774231},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.7144938111305237},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.608289361000061},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46185624599456787},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44759729504585266},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4309430420398712},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4133411645889282},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3425597548484802},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16776320338249207},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08767625689506531},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161366","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":[{"id":"https://openalex.org/G5769538083","display_name":null,"funder_award_id":"W911NF-18-2-0218","funder_id":"https://openalex.org/F4320308476","funder_display_name":"Association of Research Libraries"},{"id":"https://openalex.org/G6239717059","display_name":null,"funder_award_id":"N00014-21-1-2118,N00014-18-1-2775","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8894788334","display_name":null,"funder_award_id":"IIS-1956163,CMMI-1925130,IIS-1750489,IIS-2113401","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320308476","display_name":"Association of Research Libraries","ror":"https://ror.org/053mpbz30"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1529817735","https://openalex.org/W1666942233","https://openalex.org/W2018705428","https://openalex.org/W2070683816","https://openalex.org/W2091714857","https://openalex.org/W2094737938","https://openalex.org/W2122136962","https://openalex.org/W2164873210","https://openalex.org/W2167340365","https://openalex.org/W2296073425","https://openalex.org/W2437617937","https://openalex.org/W2575772126","https://openalex.org/W2613408948","https://openalex.org/W2739759330","https://openalex.org/W2772778096","https://openalex.org/W2895524695","https://openalex.org/W2962974944","https://openalex.org/W2963677339","https://openalex.org/W2968116426","https://openalex.org/W3004230875","https://openalex.org/W3012514211","https://openalex.org/W3035000591","https://openalex.org/W3040707741","https://openalex.org/W3089853974","https://openalex.org/W3101281919","https://openalex.org/W3105162718","https://openalex.org/W3105293877","https://openalex.org/W3126316690","https://openalex.org/W3138863790","https://openalex.org/W3160350213","https://openalex.org/W3174805484","https://openalex.org/W3202686804","https://openalex.org/W3206970255","https://openalex.org/W3207181464","https://openalex.org/W4212988627","https://openalex.org/W4221070022","https://openalex.org/W4221144359","https://openalex.org/W4255421341","https://openalex.org/W4280511593","https://openalex.org/W4292787455","https://openalex.org/W4320712055","https://openalex.org/W6755722174","https://openalex.org/W6756463683","https://openalex.org/W6773992155","https://openalex.org/W6774733536","https://openalex.org/W6785618536","https://openalex.org/W6789964505","https://openalex.org/W6838184506","https://openalex.org/W6849162281"],"related_works":["https://openalex.org/W2382190654","https://openalex.org/W2041034200","https://openalex.org/W2373129217","https://openalex.org/W1924903628","https://openalex.org/W2375717371","https://openalex.org/W4390286213","https://openalex.org/W2372453219","https://openalex.org/W3173532932","https://openalex.org/W2393872772","https://openalex.org/W1982975944"],"abstract_inverted_index":{"In":[0,98],"order":[1],"to":[2,78,132,151],"efficiently":[3],"learn":[4],"a":[5,9,12,18,22,57,122,153,192],"dynamics":[6,40,53,66,95,105,114,150,179],"model":[7,19,84],"for":[8,125,155],"task":[10,196],"in":[11,21,60,130,175,203,206],"new":[13,123],"environment,":[14],"one":[15],"can":[16,30],"adapt":[17],"learned":[20],"similar":[23,135,178],"source":[24,46,51,92],"environment.":[25,47],"However,":[26],"existing":[27],"adaptation":[28,85,126,141,167],"methods":[29],"fail":[31],"when":[32],"the":[33,39,45,50,64,88,91,99,103,112,165,207],"target":[34,65,94],"dataset":[35],"contains":[36],"transitions":[37],"where":[38,90],"are":[41,96],"very":[42],"different":[43],"from":[44],"For":[48],"example,":[49,101],"environment":[52],"could":[54,67],"be":[55],"of":[56,134,177],"rope":[58,100,182,194],"manipulated":[59],"free":[61],"space,":[62],"whereas":[63],"involve":[68],"collisions":[69],"and":[70,93,184,205],"deformation":[71],"on":[72,86,146,180,191],"obstacles.":[73],"Our":[74],"key":[75],"insight":[76],"is":[77,128],"improve":[79],"data":[80,109],"efficiency":[81],"by":[82],"focusing":[83],"only":[87],"regions":[89,133,176],"similar.":[97],"adapting":[102,111,131],"free-space":[104,113],"requires":[106],"significantly":[107,171],"less":[108],"than":[110],"while":[115],"also":[116],"learning":[117],"collision":[118],"dynamics.":[119,136],"We":[120,161,188],"propose":[121],"method":[124,142,154,168],"that":[127,164,197],"effective":[129],"Additionally,":[137],"we":[138],"combine":[139],"this":[140],"with":[143,148],"prior":[144],"work":[145],"planning":[147],"unreliable":[149],"make":[152],"data-efficient":[156,200],"online":[157,201],"adaptation,":[158],"called":[159],"FOCUS.":[160],"first":[162],"demonstrate":[163],"proposed":[166],"achieves":[169,199],"statistically":[170],"lower":[172],"prediction":[173],"error":[174],"simulated":[181],"manipulation":[183,195],"plant":[185],"watering":[186],"tasks.":[187],"then":[189],"show":[190],"bimanual":[193],"FOCUS":[198],"learning,":[202],"simulation":[204],"real":[208],"world.":[209]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}