{"id":"https://openalex.org/W4401417088","doi":"https://doi.org/10.1109/icra57147.2024.10610062","title":"Learning Fabric Manipulation in the Real World with Human Videos","display_name":"Learning Fabric Manipulation in the Real World with Human Videos","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417088","doi":"https://doi.org/10.1109/icra57147.2024.10610062"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5100605273","display_name":"Robert Lee","orcid":"https://orcid.org/0000-0002-2525-3552"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Robert Lee","raw_affiliation_strings":["Queensland University of Technology (QUT) Centre for Robotics,Brisbane City,Australia,4000"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology (QUT) Centre for Robotics,Brisbane City,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002123423","display_name":"Jad Abou-Chakra","orcid":"https://orcid.org/0000-0002-9122-3132"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jad Abou-Chakra","raw_affiliation_strings":["Queensland University of Technology (QUT) Centre for Robotics,Brisbane City,Australia,4000"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology (QUT) Centre for Robotics,Brisbane City,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101774329","display_name":"Fangyi Zhang","orcid":"https://orcid.org/0000-0002-0636-3019"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Fangyi Zhang","raw_affiliation_strings":["Queensland University of Technology (QUT) Centre for Robotics,Brisbane City,Australia,4000"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology (QUT) Centre for Robotics,Brisbane City,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080187476","display_name":"Peter Corke","orcid":"https://orcid.org/0000-0001-6650-367X"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Peter Corke","raw_affiliation_strings":["Queensland University of Technology (QUT) Centre for Robotics,Brisbane City,Australia,4000"],"affiliations":[{"raw_affiliation_string":"Queensland University of Technology (QUT) Centre for Robotics,Brisbane City,Australia,4000","institution_ids":["https://openalex.org/I160993911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100605273"],"corresponding_institution_ids":["https://openalex.org/I160993911"],"apc_list":null,"apc_paid":null,"fwci":3.4876,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.92983775,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3124","last_page":"3130"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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":0.9976000189781189,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9815999865531921,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.6786911487579346},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4723466634750366},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4288424849510193},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.42845314741134644},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4060705304145813},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.34621983766555786}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6786911487579346},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4723466634750366},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4288424849510193},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.42845314741134644},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4060705304145813},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.34621983766555786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610062","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":27,"referenced_works":["https://openalex.org/W2089630413","https://openalex.org/W2105537999","https://openalex.org/W2142697602","https://openalex.org/W2287201237","https://openalex.org/W2578245765","https://openalex.org/W2900582619","https://openalex.org/W2973439545","https://openalex.org/W3036954260","https://openalex.org/W3039258510","https://openalex.org/W3040477237","https://openalex.org/W3091544428","https://openalex.org/W3132971170","https://openalex.org/W3194418247","https://openalex.org/W3215104345","https://openalex.org/W4226098973","https://openalex.org/W4283786747","https://openalex.org/W4283788863","https://openalex.org/W4287645210","https://openalex.org/W4312333778","https://openalex.org/W4312610897","https://openalex.org/W4312820286","https://openalex.org/W4312901240","https://openalex.org/W6752818329","https://openalex.org/W6774733536","https://openalex.org/W6795508825","https://openalex.org/W6803239650","https://openalex.org/W6803403409"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Fabric":[0],"manipulation":[1,68,85],"is":[2,45,64],"a":[3,105,113,122,137],"long-standing":[4],"challenge":[5],"in":[6],"robotics":[7],"due":[8],"to":[9,30,65],"the":[10,49,74,163],"enormous":[11],"state":[12],"space":[13],"and":[14,97,119,140,158],"complex":[15],"dynamics.":[16],"Learning":[17],"approaches":[18],"stand":[19],"out":[20],"as":[21,26],"promising":[22,62],"for":[23,83],"this":[24,77],"domain":[25],"they":[27],"allow":[28],"us":[29],"learn":[31,66],"behaviours":[32],"directly":[33,69,90],"from":[34,70,152],"data.":[35],"Most":[36],"prior":[37],"methods":[38],"however":[39],"rely":[40,57],"heavily":[41],"on":[42,58,121,136,162],"simulation,":[43],"which":[44],"still":[46],"limited":[47],"by":[48,91],"large":[50,59],"sim-to-real":[51],"gap":[52],"of":[53,107],"deformable":[54],"objects":[55],"or":[56],"datasets.":[60],"A":[61],"alternative":[63],"fabric":[67,84,138],"watching":[71],"humans":[72],"perform":[73],"task.":[75],"In":[76],"work,":[78],"we":[79,110],"explore":[80],"how":[81,112],"demonstrations":[82],"tasks":[86],"can":[87,116,147],"be":[88,117],"collected":[89],"humans,":[92],"providing":[93],"an":[94],"extremely":[95],"natural":[96],"fast":[98],"data":[99,128,159],"collection":[100,129],"pipeline.":[101],"Then,":[102],"using":[103],"only":[104],"handful":[106],"such":[108],"demonstrations,":[109],"show":[111],"pick-and-place":[114],"policy":[115,146],"learned":[118],"deployed":[120],"real":[123],"robot,":[124],"without":[125],"any":[126],"robot":[127],"at":[130],"all.":[131],"We":[132],"demonstrate":[133],"our":[134,145],"approach":[135],"smoothing":[139],"folding":[141],"task,":[142],"showing":[143],"that":[144],"reliably":[148],"reach":[149],"folded":[150],"states":[151],"crumpled":[153],"initial":[154],"configurations.":[155],"Code,":[156],"video":[157],"are":[160],"available":[161],"project":[164],"website:":[165],"https://sites.google.com/view/foldingbyhand":[166]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}