{"id":"https://openalex.org/W4401417159","doi":"https://doi.org/10.1109/icra57147.2024.10610573","title":"Learning Dual-arm Object Rearrangement for Cartesian Robots","display_name":"Learning Dual-arm Object Rearrangement for Cartesian Robots","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417159","doi":"https://doi.org/10.1109/icra57147.2024.10610573"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610573","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610573","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":"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/A5102832755","display_name":"Shishun Zhang","orcid":"https://orcid.org/0000-0002-3876-5928"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shishun Zhang","raw_affiliation_strings":["National University of Defense Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038237311","display_name":"Qijin She","orcid":"https://orcid.org/0000-0003-0422-969X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qijin She","raw_affiliation_strings":["National University of Defense Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100362633","display_name":"Wenhao Li","orcid":"https://orcid.org/0000-0003-1420-8163"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenhao Li","raw_affiliation_strings":["National University of Defense Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114859293","display_name":"Chenyang Zhu","orcid":"https://orcid.org/0000-0003-2838-8601"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyang Zhu","raw_affiliation_strings":["National University of Defense Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424205","display_name":"Yongjun Wang","orcid":"https://orcid.org/0000-0001-9883-2099"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongjun Wang","raw_affiliation_strings":["National University of Defense Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013892799","display_name":"Ruizhen Hu","orcid":"https://orcid.org/0000-0002-6798-0336"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruizhen Hu","raw_affiliation_strings":["Shenzhen University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen University","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031386469","display_name":"Kai Xu","orcid":"https://orcid.org/0000-0003-1690-3370"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Xu","raw_affiliation_strings":["National University of Defense Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17099286,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"30","issue":null,"first_page":"7440","last_page":"7446"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9807000160217285,"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":0.9807000160217285,"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":0.9642999768257141,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9474999904632568,"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/dual","display_name":"Dual (grammatical number)","score":0.6844366192817688},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6495885848999023},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.628865122795105},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6029329299926758},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5556532740592957},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5009489059448242},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48601609468460083},{"id":"https://openalex.org/keywords/cartesian-coordinate-robot","display_name":"Cartesian coordinate robot","score":0.41427090764045715},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.30235546827316284},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22001495957374573},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21147772669792175},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12239581346511841},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.0752275288105011}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6844366192817688},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6495885848999023},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.628865122795105},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6029329299926758},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5556532740592957},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5009489059448242},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48601609468460083},{"id":"https://openalex.org/C118635694","wikidata":"https://www.wikidata.org/wiki/Q3268064","display_name":"Cartesian coordinate robot","level":5,"score":0.41427090764045715},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.30235546827316284},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22001495957374573},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21147772669792175},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12239581346511841},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0752275288105011},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610573","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10610573","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":[{"id":"https://openalex.org/F4320328381","display_name":"Huxiang Youth Talent Support Program","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W2040326319","https://openalex.org/W2415216611","https://openalex.org/W2418783521","https://openalex.org/W2607264901","https://openalex.org/W2736601468","https://openalex.org/W2913756371","https://openalex.org/W2918333121","https://openalex.org/W2951846985","https://openalex.org/W2952332632","https://openalex.org/W2967171277","https://openalex.org/W2967601331","https://openalex.org/W3089482831","https://openalex.org/W3089825434","https://openalex.org/W3089883116","https://openalex.org/W3098945452","https://openalex.org/W3128894241","https://openalex.org/W3133137374","https://openalex.org/W3170112077","https://openalex.org/W3175494061","https://openalex.org/W3178775269","https://openalex.org/W4200398046","https://openalex.org/W4226102240","https://openalex.org/W4229446899","https://openalex.org/W4312356001","https://openalex.org/W4319459158","https://openalex.org/W4385245566","https://openalex.org/W4391405856","https://openalex.org/W6631190155","https://openalex.org/W6730742100","https://openalex.org/W6741002519","https://openalex.org/W6756486208","https://openalex.org/W6758687306","https://openalex.org/W6944498973"],"related_works":["https://openalex.org/W2083949991","https://openalex.org/W3024822859","https://openalex.org/W1554767907","https://openalex.org/W2352032688","https://openalex.org/W2054153812","https://openalex.org/W2181770720","https://openalex.org/W2946972655","https://openalex.org/W2116772699","https://openalex.org/W2142991289","https://openalex.org/W2468204517"],"abstract_inverted_index":{"This":[0],"work":[1],"focuses":[2],"on":[3,119,229],"the":[4,27,34,41,43,57,64,70,73,77,81,86,100,122,132,144,147,151,159,170,209,223,230,234],"dual-arm":[5,65],"object":[6],"rearrangement":[7],"problem":[8,22],"abstracted":[9],"from":[10,29],"a":[11],"realistic":[12],"industrial":[13],"scenario":[14],"of":[15,20,69,83,89,102,125,134,211,217,225],"Cartesian":[16],"robots.":[17],"The":[18],"goal":[19],"this":[21,179],"is":[23,46,76],"to":[24,31,47,142,156,178,214],"transfer":[25],"all":[26],"objects":[28,84],"sources":[30],"targets":[32],"with":[33,131,186],"minimum":[35],"total":[36,200],"completion":[37],"time.":[38],"To":[39],"achieve":[40],"goal,":[42],"core":[44],"idea":[45],"develop":[48],"an":[49,112,139],"effective":[50],"object-to-arm":[51,162],"task":[52,59,74,108,114,153,166],"assignment":[53,75,115,167],"strategy":[54],"for":[55,95],"minimizing":[56],"cumulative":[58],"execution":[60,154,201],"time":[61,88,124,202],"and":[62,121,182,203,206],"maximizing":[63],"cooperation":[66],"efficiency.":[67],"One":[68],"difficulties":[71],"in":[72,106,164,199,233],"scalability":[78],"problem.":[79],"As":[80],"number":[82,133],"increases,":[85],"computation":[87,123],"traditional":[90],"offline-search-based":[91],"methods":[92,177,198],"grows":[93],"strongly":[94],"computational":[96,204],"complexity.":[97],"Encouraged":[98],"by":[99],"adaptability":[101],"reinforcement":[103],"learning":[104],"(RL)":[105],"long-sequence":[107],"decisions,":[109],"we":[110,137,173,221],"propose":[111],"online":[113],"decision":[116],"method":[117,127,185,213,227],"based":[118],"RL,":[120],"our":[126,184,192,212,226],"only":[128],"increases":[129],"linearly":[130],"objects.":[135,218],"Further,":[136],"design":[138],"attention-based":[140],"network":[141],"model":[143],"dependencies":[145],"between":[146],"input":[148],"states":[149],"during":[150],"whole":[152],"process":[155],"help":[157],"find":[158],"most":[160],"reasonable":[161],"correspondence":[163],"each":[165],"round.":[168],"In":[169,219],"experimental":[171],"part,":[172],"adapt":[174],"some":[175],"search-based":[176,197],"specific":[180],"setting":[181],"compare":[183],"them.":[187],"Experimental":[188],"result":[189],"shows":[190],"that":[191],"approach":[193],"achieves":[194],"outperformance":[195],"over":[196],"efficiency,":[205],"also":[207],"verifies":[208],"generalization":[210],"different":[215],"numbers":[216],"addition,":[220],"show":[222],"effectiveness":[224],"deployed":[228],"real":[231],"robot":[232],"supplementary":[235],"video.":[236]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
