{"id":"https://openalex.org/W4413925243","doi":"https://doi.org/10.1109/icra55743.2025.11128204","title":"Physics-Aware Robotic Palletization With Online Masking Inference","display_name":"Physics-Aware Robotic Palletization With Online Masking Inference","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925243","doi":"https://doi.org/10.1109/icra55743.2025.11128204"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128204","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5100425388","display_name":"Tianqi Zhang","orcid":"https://orcid.org/0000-0002-3729-1812"},"institutions":[{"id":"https://openalex.org/I1333535994","display_name":"University of North Carolina Health Care","ror":"https://ror.org/00qz24g20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1333535994"]},{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tianqi Zhang","raw_affiliation_strings":["UNC,Chapel Hill"],"affiliations":[{"raw_affiliation_string":"UNC,Chapel Hill","institution_ids":["https://openalex.org/I1333535994","https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101590595","display_name":"Zheng Wu","orcid":"https://orcid.org/0000-0001-7147-173X"},"institutions":[{"id":"https://openalex.org/I1333535994","display_name":"University of North Carolina Health Care","ror":"https://ror.org/00qz24g20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1333535994"]},{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zheng Wu","raw_affiliation_strings":["UNC,Chapel Hill"],"affiliations":[{"raw_affiliation_string":"UNC,Chapel Hill","institution_ids":["https://openalex.org/I1333535994","https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060296255","display_name":"Yuxin Chen","orcid":"https://orcid.org/0009-0002-3320-0159"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]},{"id":"https://openalex.org/I1333535994","display_name":"University of North Carolina Health Care","ror":"https://ror.org/00qz24g20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1333535994"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuxin Chen","raw_affiliation_strings":["UNC,Chapel Hill"],"affiliations":[{"raw_affiliation_string":"UNC,Chapel Hill","institution_ids":["https://openalex.org/I1333535994","https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100651550","display_name":"Yixiao Wang","orcid":"https://orcid.org/0000-0003-2664-3605"},"institutions":[{"id":"https://openalex.org/I1333535994","display_name":"University of North Carolina Health Care","ror":"https://ror.org/00qz24g20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1333535994"]},{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yixiao Wang","raw_affiliation_strings":["UNC,Chapel Hill"],"affiliations":[{"raw_affiliation_string":"UNC,Chapel Hill","institution_ids":["https://openalex.org/I1333535994","https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085683827","display_name":"Boyuan Liang","orcid":"https://orcid.org/0000-0002-2590-022X"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]},{"id":"https://openalex.org/I1333535994","display_name":"University of North Carolina Health Care","ror":"https://ror.org/00qz24g20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1333535994"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Boyuan Liang","raw_affiliation_strings":["UNC,Chapel Hill"],"affiliations":[{"raw_affiliation_string":"UNC,Chapel Hill","institution_ids":["https://openalex.org/I1333535994","https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029873060","display_name":"Scott Moura","orcid":"https://orcid.org/0000-0002-6393-4375"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]},{"id":"https://openalex.org/I1333535994","display_name":"University of North Carolina Health Care","ror":"https://ror.org/00qz24g20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1333535994"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Scott Moura","raw_affiliation_strings":["UNC,Chapel Hill"],"affiliations":[{"raw_affiliation_string":"UNC,Chapel Hill","institution_ids":["https://openalex.org/I1333535994","https://openalex.org/I114027177"]}]},{"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/I1333535994","display_name":"University of North Carolina Health Care","ror":"https://ror.org/00qz24g20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1333535994"]},{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["UNC,Chapel Hill"],"affiliations":[{"raw_affiliation_string":"UNC,Chapel Hill","institution_ids":["https://openalex.org/I1333535994","https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022382771","display_name":"Mingyu Ding","orcid":"https://orcid.org/0000-0001-6556-8359"},"institutions":[{"id":"https://openalex.org/I1333535994","display_name":"University of North Carolina Health Care","ror":"https://ror.org/00qz24g20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1333535994"]},{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mingyu Ding","raw_affiliation_strings":["UNC,Chapel Hill"],"affiliations":[{"raw_affiliation_string":"UNC,Chapel Hill","institution_ids":["https://openalex.org/I1333535994","https://openalex.org/I114027177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101867912","display_name":"Wei Zhan","orcid":"https://orcid.org/0000-0003-0573-8904"},"institutions":[{"id":"https://openalex.org/I1333535994","display_name":"University of North Carolina Health Care","ror":"https://ror.org/00qz24g20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1333535994"]},{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Zhan","raw_affiliation_strings":["UNC,Chapel Hill"],"affiliations":[{"raw_affiliation_string":"UNC,Chapel Hill","institution_ids":["https://openalex.org/I1333535994","https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5100425388"],"corresponding_institution_ids":["https://openalex.org/I114027177","https://openalex.org/I1333535994"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2897316,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6139","last_page":"6145"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10789","display_name":"Interactive and Immersive Displays","score":0.9818000197410583,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10789","display_name":"Interactive and Immersive Displays","score":0.9818000197410583,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10888","display_name":"Augmented Reality Applications","score":0.9786999821662903,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.963699996471405,"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/masking","display_name":"Masking (illustration)","score":0.6166443824768066},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5780462622642517},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.4530652165412903},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42780473828315735},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.349886029958725}],"concepts":[{"id":"https://openalex.org/C2777402240","wikidata":"https://www.wikidata.org/wiki/Q6783436","display_name":"Masking (illustration)","level":2,"score":0.6166443824768066},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5780462622642517},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4530652165412903},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42780473828315735},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.349886029958725},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128204","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":19,"referenced_works":["https://openalex.org/W1903029394","https://openalex.org/W1920942232","https://openalex.org/W2004065455","https://openalex.org/W2066875820","https://openalex.org/W2107726111","https://openalex.org/W2158782408","https://openalex.org/W2158804684","https://openalex.org/W2464708700","https://openalex.org/W2565233142","https://openalex.org/W2598380049","https://openalex.org/W2967842325","https://openalex.org/W2996896271","https://openalex.org/W3082452785","https://openalex.org/W3087791475","https://openalex.org/W3091554847","https://openalex.org/W3175494061","https://openalex.org/W4226102240","https://openalex.org/W4281773315","https://openalex.org/W4401415884"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2935759653","https://openalex.org/W3105167352","https://openalex.org/W54078636","https://openalex.org/W2954470139","https://openalex.org/W1501425562","https://openalex.org/W2902782467","https://openalex.org/W3084825885"],"abstract_inverted_index":{"The":[0,141],"efficient":[1],"planning":[2],"of":[3,14],"stacking":[4],"boxes,":[5],"especially":[6],"in":[7,23,90,129,138],"the":[8,12,70,101,106],"online":[9,96],"setting":[10],"where":[11],"sequence":[13],"item":[15],"arrivals":[16],"is":[17,143],"unpredictable,":[18],"remains":[19],"a":[20,130],"critical":[21],"challenge":[22],"modern":[24],"warehouse":[25],"and":[26,40,46],"logistics":[27],"management.":[28],"Existing":[29],"solutions":[30],"often":[31],"address":[32],"box":[33],"size":[34],"variations,":[35],"but":[36],"overlook":[37],"their":[38],"intrinsic":[39],"physical":[41,91],"properties,":[42],"such":[43],"as":[44],"density":[45],"rigidity,":[47],"which":[48,85],"are":[49,86],"crucial":[50],"for":[51,108],"real-world":[52,131],"applications.":[53],"We":[54],"use":[55],"reinforcement":[56],"learning":[57,97],"(RL)":[58],"to":[59,68,88,98],"solve":[60],"this":[61],"problem":[62],"by":[63],"employing":[64],"action":[65,102],"space":[66,103],"masking":[67],"direct":[69],"RL":[71],"policy":[72],"toward":[73],"valid":[74],"actions.":[75],"Unlike":[76],"previous":[77],"methods":[78],"that":[79,115],"rely":[80],"on":[81],"heuristic":[82,110],"stability":[83],"assessments":[84],"difficult":[87],"assess":[89],"scenarios,":[92],"our":[93,116,125],"framework":[94],"utilizes":[95],"dynamically":[99],"train":[100],"mask,":[104],"eliminating":[105],"need":[107],"manual":[109],"design.":[111],"Extensive":[112],"experiments":[113],"demonstrate":[114],"proposed":[117],"method":[118],"outperforms":[119],"existing":[120],"state-of-the-arts.":[121],"Furthermore,":[122],"we":[123],"deploy":[124],"learned":[126],"task":[127],"planner":[128],"robotic":[132],"palletizer,":[133],"validating":[134],"its":[135],"practical":[136],"applicability":[137],"operational":[139],"settings.":[140],"code":[142],"available":[144],"at":[145],"https://github.com/tianqi-zh/palletization.":[146]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
