{"id":"https://openalex.org/W4415968699","doi":"https://doi.org/10.1109/iecon58223.2025.11221264","title":"Progressive Domain Transfer Learning for Contact-rich Hand-Tool-Environment Interaction","display_name":"Progressive Domain Transfer Learning for Contact-rich Hand-Tool-Environment Interaction","publication_year":2025,"publication_date":"2025-10-14","ids":{"openalex":"https://openalex.org/W4415968699","doi":"https://doi.org/10.1109/iecon58223.2025.11221264"},"language":null,"primary_location":{"id":"doi:10.1109/iecon58223.2025.11221264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon58223.2025.11221264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2025 \u2013 51st Annual Conference of the IEEE Industrial Electronics Society","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/A5085669896","display_name":"Jinke Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jinke Yao","raw_affiliation_strings":["Zhejiang University,Control Science and Engineering,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Control Science and Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030572896","display_name":"Wenxin Zhu","orcid":"https://orcid.org/0000-0003-3549-5982"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxin Zhu","raw_affiliation_strings":["Zhejiang University,Control Science and Engineering,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Control Science and Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050210424","display_name":"Yilin Lang","orcid":"https://orcid.org/0000-0002-9381-9888"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yilin Lang","raw_affiliation_strings":["Zhejiang University,Control Science and Engineering,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Control Science and Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041199618","display_name":"Qinyuan Ren","orcid":"https://orcid.org/0000-0001-9487-2675"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinyuan Ren","raw_affiliation_strings":["Zhejiang University,Control Science and Engineering,Hangzhou,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Control Science and Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085669896"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.40655378,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7850000262260437,"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":0.7850000262260437,"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/T10982","display_name":"Motor Control and Adaptation","score":0.08990000188350677,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.03779999911785126,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/randomness","display_name":"Randomness","score":0.7059000134468079},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6172999739646912},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5655999779701233},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.5460000038146973},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.48170000314712524},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.4672999978065491},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.460999995470047},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4115000069141388},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.40209999680519104},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.40149998664855957}],"concepts":[{"id":"https://openalex.org/C125112378","wikidata":"https://www.wikidata.org/wiki/Q176640","display_name":"Randomness","level":2,"score":0.7059000134468079},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6933000087738037},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6172999739646912},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5655999779701233},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.5460000038146973},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5174999833106995},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.48170000314712524},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.4672999978065491},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.460999995470047},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4115000069141388},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.40209999680519104},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.40149998664855957},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.353300005197525},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.3361999988555908},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.3319000005722046},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.32760000228881836},{"id":"https://openalex.org/C103824480","wikidata":"https://www.wikidata.org/wiki/Q185889","display_name":"Time domain","level":2,"score":0.32690000534057617},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3165999948978424},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3089999854564667},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.3068000078201294},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3043000102043152},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.2957000136375427},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.29429998993873596},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2874000072479248},{"id":"https://openalex.org/C81299745","wikidata":"https://www.wikidata.org/wiki/Q334269","display_name":"Transfer function","level":2,"score":0.28700000047683716},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2732999920845032},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.25609999895095825}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon58223.2025.11221264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon58223.2025.11221264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2025 \u2013 51st Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320326952","display_name":"State Key Laboratory of Industrial Control Technology","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2907450337","https://openalex.org/W3174123873","https://openalex.org/W4285047691","https://openalex.org/W4321180172","https://openalex.org/W4321330995","https://openalex.org/W4383108554","https://openalex.org/W4383109140","https://openalex.org/W4387487465","https://openalex.org/W4390481298","https://openalex.org/W4400946829","https://openalex.org/W4401344631","https://openalex.org/W4401413737","https://openalex.org/W4401415296","https://openalex.org/W4404307277","https://openalex.org/W4405787112","https://openalex.org/W4405905261"],"related_works":[],"abstract_inverted_index":{"Due":[0],"to":[1,70,105,138,156,164],"high":[2],"Degrees":[3],"of":[4,11,171],"Freedom":[5],"(DoF),":[6],"dexterous":[7],"hand":[8],"is":[9,68,93,112],"capable":[10],"manipulating":[12],"tools":[13],"with":[14,26,81,96,123,168],"heavily":[15],"complex,":[16],"uncertain":[17],"and":[18,28,35,44,74,85,130,135,151],"unstructured":[19],"industrial":[20,117],"environments,":[21],"thereby":[22],"enabling":[23],"stronger":[24],"coupling":[25],"surroundings":[27],"human":[29],"colleagues.":[30],"However,":[31],"the":[32,97,136,169],"high-dimensional":[33],"state":[34],"multi-point":[36],"sliding":[37],"contacts":[38],"pose":[39],"significant":[40],"challenges":[41],"in":[42,114,146],"modeling":[43],"policy":[45],"transfer":[46,77,148],"within":[47],"different":[48],"domain":[49,79,147,166],"during":[50],"Hand-Tool-Environment":[51],"(HTE)":[52],"interactions.":[53],"In":[54],"this":[55],"paper,":[56],"a":[57,89,115],"progressive":[58,86],"generative":[59],"representation":[60],"(PGR),":[61],"mapping":[62],"observation":[63],"into":[64],"low-dim":[65],"latent":[66,99],"space,":[67],"employed":[69],"extract":[71],"contact-rich":[72],"feature":[73],"facilitate":[75],"adaptive":[76],"under":[78],"shift":[80],"its":[82,128],"inherent":[83],"randomness":[84],"adjustment.":[87],"Furthermore,":[88],"model-based":[90],"optimal":[91],"control":[92,158],"effectively":[94],"integrasted":[95],"implicit":[98],"dynamics":[100],"via":[101],"temporal":[102],"difference":[103],"learning":[104],"infer":[106],"manipulation":[107],"policy.":[108],"The":[109],"proposed":[110],"method":[111,142],"validated":[113],"simulated":[116],"scenario":[118],"involving":[119,149],"ultrasound":[120],"inspection":[121],"task":[122],"ablation":[124],"study,":[125],"demonstrating":[126],"both":[127],"effectiveness":[129],"necessity":[131],"through":[132],"point":[133],"tracking":[134],"similarity":[137],"predefined":[139],"trajectory.":[140],"Proposed":[141],"demonstrated":[143],"superior":[144],"performance":[145,161],"stiffness":[150],"friction":[152],"alterations":[153],"when":[154],"compared":[155],"all":[157],"groups.":[159],"Notably,":[160],"was":[162],"restored":[163],"source":[165],"levels":[167],"application":[170],"merely":[172],"10":[173],"rollouts":[174],"updates.":[175]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-06T00:00:00"}