{"id":"https://openalex.org/W4383108212","doi":"https://doi.org/10.1109/icra48891.2023.10161453","title":"Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation","display_name":"Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108212","doi":"https://doi.org/10.1109/icra48891.2023.10161453"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161453","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/A5101894010","display_name":"Mengxi Li","orcid":"https://orcid.org/0000-0002-7923-535X"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mengxi Li","raw_affiliation_strings":["Stanford University,Department of Computer Science","Department of Computer Science, Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Computer Science","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Computer Science, Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009099496","display_name":"Rika Antonova","orcid":"https://orcid.org/0000-0002-3018-2445"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rika Antonova","raw_affiliation_strings":["Stanford University,Department of Computer Science","Department of Computer Science, Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Computer Science","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Computer Science, Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080725225","display_name":"Dorsa Sadigh","orcid":"https://orcid.org/0000-0002-7802-9183"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dorsa Sadigh","raw_affiliation_strings":["Stanford University,Department of Computer Science","Department of Computer Science, Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Computer Science","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Computer Science, Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021676288","display_name":"Jeannette Bohg","orcid":"https://orcid.org/0000-0002-4921-7193"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeannette Bohg","raw_affiliation_strings":["Stanford University,Department of Computer Science","Department of Computer Science, Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Computer Science","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Computer Science, Stanford University","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101894010"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":0.3763,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.57808599,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1859","last_page":"1865"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.996399998664856,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9954000115394592,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7362048625946045},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7287009954452515},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7072714567184448},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5738024711608887},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5650444626808167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5279811024665833},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.5136479735374451},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4819195568561554},{"id":"https://openalex.org/keywords/dynamical-simulation","display_name":"Dynamical simulation","score":0.4464016258716583},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.44037479162216187},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.43051111698150635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1353561282157898},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.12251856923103333},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07947167754173279}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7362048625946045},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7287009954452515},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7072714567184448},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5738024711608887},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5650444626808167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5279811024665833},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.5136479735374451},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4819195568561554},{"id":"https://openalex.org/C81587630","wikidata":"https://www.wikidata.org/wiki/Q5319044","display_name":"Dynamical simulation","level":2,"score":0.4464016258716583},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44037479162216187},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.43051111698150635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1353561282157898},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.12251856923103333},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07947167754173279},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161453","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":[{"score":0.44999998807907104,"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2"}],"awards":[{"id":"https://openalex.org/G7698193007","display_name":null,"funder_award_id":"2030859","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W80530918","https://openalex.org/W1637402956","https://openalex.org/W1996212561","https://openalex.org/W2000769684","https://openalex.org/W2031319386","https://openalex.org/W2037201547","https://openalex.org/W2062249044","https://openalex.org/W2099841506","https://openalex.org/W2152446207","https://openalex.org/W2292964075","https://openalex.org/W2307599347","https://openalex.org/W2343757578","https://openalex.org/W2533621232","https://openalex.org/W2556096037","https://openalex.org/W2734314755","https://openalex.org/W2743427213","https://openalex.org/W2805883505","https://openalex.org/W2891122218","https://openalex.org/W2963072899","https://openalex.org/W2963813679","https://openalex.org/W2964189064","https://openalex.org/W2967992338","https://openalex.org/W2995253198","https://openalex.org/W2996514457","https://openalex.org/W3003257820","https://openalex.org/W3010923030","https://openalex.org/W3030364939","https://openalex.org/W3091444023","https://openalex.org/W3104828860","https://openalex.org/W3173446233","https://openalex.org/W3174011998","https://openalex.org/W3175955419","https://openalex.org/W3205915096","https://openalex.org/W3207175065","https://openalex.org/W4226505391","https://openalex.org/W4241925824","https://openalex.org/W4283819475","https://openalex.org/W4295883599","https://openalex.org/W4310563105","https://openalex.org/W4320167587","https://openalex.org/W6742187030","https://openalex.org/W6747837551","https://openalex.org/W6769017845","https://openalex.org/W6786109978","https://openalex.org/W6811126610","https://openalex.org/W6839435213","https://openalex.org/W6847058163","https://openalex.org/W6849752242"],"related_works":["https://openalex.org/W2577369411","https://openalex.org/W2147505856","https://openalex.org/W2944639335","https://openalex.org/W27526006","https://openalex.org/W2158662146","https://openalex.org/W2055845079","https://openalex.org/W2005420820","https://openalex.org/W2119707293","https://openalex.org/W4308242512","https://openalex.org/W4368227461"],"abstract_inverted_index":{"When":[0],"humans":[1],"perform":[2],"contact-rich":[3,59],"manipulation":[4,60],"tasks,":[5],"customized":[6],"tools":[7,36,141],"are":[8],"often":[9],"necessary":[10],"to":[11,40,53,87,103],"simplify":[12],"the":[13,89,99,116,133,167],"task.":[14,117],"For":[15],"instance,":[16],"we":[17],"use":[18],"various":[19],"utensils":[20],"for":[21,58,138],"handling":[22],"food,":[23],"such":[24,145],"as":[25,126,146],"knives,":[26],"forks":[27],"and":[28,84,106,152],"spoons.":[29],"Similarly,":[30],"robots":[31,164],"may":[32],"benefit":[33],"from":[34],"specialized":[35],"that":[37,166],"enable":[38],"them":[39,175],"more":[41],"easily":[42],"complete":[43],"a":[44,78,109,127,150,156],"variety":[45],"of":[46,77,115,135],"tasks.":[47],"We":[48,118,131],"present":[49],"an":[50],"end-to-end":[51],"framework":[52],"automatically":[54],"learn":[55],"tool":[56,168],"morphology":[57,111],"tasks":[61],"by":[62,123,171],"leveraging":[63],"differentiable":[64],"physics":[65],"simulators.":[66],"Previous":[67],"work":[68],"relied":[69],"on":[70],"manually":[71],"constructed":[72],"priors":[73],"requiring":[74],"detailed":[75],"specification":[76],"3D":[79],"object":[80],"model,":[81],"grasp":[82],"pose":[83],"task":[85,104],"description":[86],"facilitate":[88],"search":[90],"or":[91],"optimization":[92,121],"process.":[93],"Our":[94],"approach":[95],"only":[96],"requires":[97],"defining":[98],"objective":[100],"with":[101,162],"respect":[102],"performance":[105],"enables":[107],"learning":[108,129],"robust":[110],"through":[112],"randomizing":[113],"variations":[114],"make":[119],"this":[120],"tractable":[122],"casting":[124],"it":[125],"continual":[128],"problem.":[130],"demonstrate":[132],"effectiveness":[134],"our":[136,172],"method":[137,173],"designing":[139],"new":[140],"in":[142,158,177],"several":[143],"scenarios,":[144],"winding":[147],"ropes,":[148],"flipping":[149],"box":[151],"pushing":[153],"peas":[154],"onto":[155],"scoop":[157],"simulation.":[159],"Additionally,":[160],"experiments":[161],"real":[163],"show":[165],"shapes":[169],"discovered":[170],"help":[174],"succeed":[176],"these":[178],"scenarios.":[179]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
