{"id":"https://openalex.org/W4401415296","doi":"https://doi.org/10.1109/icra57147.2024.10610754","title":"DexDLO: Learning Goal-Conditioned Dexterous Policy for Dynamic Manipulation of Deformable Linear Objects","display_name":"DexDLO: Learning Goal-Conditioned Dexterous Policy for Dynamic Manipulation of Deformable Linear Objects","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415296","doi":"https://doi.org/10.1109/icra57147.2024.10610754"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610754","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610754","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/A5093383821","display_name":"Sun Zhaole","orcid":"https://orcid.org/0000-0001-9258-8144"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Sun Zhaole","raw_affiliation_strings":["University of Edinburgh,School of Informatics,UK"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics,UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035166402","display_name":"Jihong Zhu","orcid":"https://orcid.org/0000-0001-8185-5497"},"institutions":[{"id":"https://openalex.org/I52099693","display_name":"University of York","ror":"https://ror.org/04m01e293","country_code":"GB","type":"education","lineage":["https://openalex.org/I52099693"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jihong Zhu","raw_affiliation_strings":["University of York,School of Physics, Engineering and Technology,UK"],"affiliations":[{"raw_affiliation_string":"University of York,School of Physics, Engineering and Technology,UK","institution_ids":["https://openalex.org/I52099693"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020686179","display_name":"Robert B. Fisher","orcid":"https://orcid.org/0000-0001-6860-9371"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Robert B. Fisher","raw_affiliation_strings":["University of Edinburgh,School of Informatics,UK"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics,UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5093383821"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":3.844,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.93860172,"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":"16009","last_page":"16015"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.6327638626098633},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.395618200302124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3304463028907776}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6327638626098633},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.395618200302124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3304463028907776}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610754","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610754","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":[{"id":"https://metadata.un.org/sdg/10","score":0.4399999976158142,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1541173870","https://openalex.org/W2037201547","https://openalex.org/W2128811076","https://openalex.org/W2158782408","https://openalex.org/W2187089797","https://openalex.org/W2736601468","https://openalex.org/W2808405904","https://openalex.org/W2963411833","https://openalex.org/W2968116426","https://openalex.org/W2981030070","https://openalex.org/W3003169307","https://openalex.org/W3090123176","https://openalex.org/W3137760825","https://openalex.org/W3159812989","https://openalex.org/W3192021195","https://openalex.org/W3199951390","https://openalex.org/W3206646577","https://openalex.org/W3207181464","https://openalex.org/W3207296083","https://openalex.org/W3207732271","https://openalex.org/W4224903718","https://openalex.org/W4283215509","https://openalex.org/W4283786694","https://openalex.org/W4285021310","https://openalex.org/W4289690297","https://openalex.org/W4383108265","https://openalex.org/W4383109006","https://openalex.org/W4385430700","https://openalex.org/W4385696112","https://openalex.org/W4389164282","https://openalex.org/W4402697409","https://openalex.org/W6741002519","https://openalex.org/W6768397756","https://openalex.org/W6774733536","https://openalex.org/W6780153092","https://openalex.org/W6785618536","https://openalex.org/W6803178138","https://openalex.org/W6804601995","https://openalex.org/W6839344006","https://openalex.org/W6857568160"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Deformable":[0],"linear":[1,14,57],"object":[2,15],"(DLO)":[3,16],"manipulation":[4,17,24,34,53,73,111],"is":[5,41],"needed":[6],"in":[7,64],"many":[8],"fields.":[9],"Previous":[10],"research":[11],"on":[12],"deformable":[13,56],"has":[18],"primarily":[19],"involved":[20],"parallel":[21],"jaw":[22],"gripper":[23],"with":[25,59,113],"fixed":[26],"grasping":[27],"positions.":[28],"However,":[29],"the":[30,94,114,137],"potential":[31],"for":[32,55,132],"dexterous":[33,51,62],"of":[35,124,136],"DLOs":[36],"using":[37],"an":[38,65],"anthropomorphic":[39],"hand":[40,63],"under-explored.":[42],"We":[43,118],"present":[44],"DexDLO,":[45],"a":[46,60,121,133],"model-free":[47],"framework":[48,102,116],"that":[49,100],"learns":[50],"dynamic":[52],"policies":[54],"objects":[58],"fixed-base":[61],"end-to-end":[66],"way.":[67],"By":[68],"abstracting":[69],"several":[70],"common":[71],"DLO":[72,84,86,88,110],"tasks":[74,81,112],"into":[75],"goal-conditioned":[76],"tasks,":[77],"DexDLO":[78],"can":[79,103],"perform":[80],"such":[82],"as":[83],"grabbing,":[85],"pulling,":[87],"end-tip":[89],"position":[90],"controlling,":[91],"etc.":[92],"Using":[93],"Mujoco":[95],"physics":[96],"simulator,":[97],"we":[98],"demonstrate":[99],"our":[101],"efficiently":[104],"and":[105,129],"effectively":[106],"learn":[107],"five":[108],"different":[109],"same":[115],"parameters.":[117],"further":[119],"provide":[120],"thorough":[122],"analysis":[123],"learned":[125],"policies,":[126],"reward":[127],"functions,":[128],"reduced":[130],"observations":[131],"comprehensive":[134],"understanding":[135],"framework.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
