{"id":"https://openalex.org/W3118636256","doi":"https://doi.org/10.1109/iros45743.2020.9341709","title":"Transferring Experience from Simulation to the Real World for Precise Pick-And-Place Tasks in Highly Cluttered Scenes","display_name":"Transferring Experience from Simulation to the Real World for Precise Pick-And-Place Tasks in Highly Cluttered Scenes","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3118636256","doi":"https://doi.org/10.1109/iros45743.2020.9341709","mag":"3118636256"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341709","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2101.04781","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002471326","display_name":"Kilian Kleeberger","orcid":null},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kilian Kleeberger","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department Robot and Assistive Systems,Stuttgart,Germany,70569"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department Robot and Assistive Systems,Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030548476","display_name":"Markus V\u00f6lk","orcid":"https://orcid.org/0009-0003-0209-8750"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Markus Volk","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department Robot and Assistive Systems,Stuttgart,Germany,70569"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department Robot and Assistive Systems,Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062846442","display_name":"Marius Moosmann","orcid":null},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marius Moosmann","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department Robot and Assistive Systems,Stuttgart,Germany,70569"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department Robot and Assistive Systems,Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059173974","display_name":"Erik Thiessenhusen","orcid":null},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Erik Thiessenhusen","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department Robot and Assistive Systems,Stuttgart,Germany,70569"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department Robot and Assistive Systems,Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063808799","display_name":"Florian Roth","orcid":"https://orcid.org/0000-0002-5287-6448"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Roth","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department Robot and Assistive Systems,Stuttgart,Germany,70569"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department Robot and Assistive Systems,Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003111090","display_name":"Richard Bormann","orcid":"https://orcid.org/0000-0002-4546-3143"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Richard Bormann","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department Robot and Assistive Systems,Stuttgart,Germany,70569"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Department Robot and Assistive Systems,Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031354877","display_name":"Marco F. Huber","orcid":"https://orcid.org/0000-0002-8250-2092"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marco F. Huber","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Center for Cyber Cognitive Intelligence (CCI),Stuttgart,Germany,70569"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation IPA,Center for Cyber Cognitive Intelligence (CCI),Stuttgart,Germany,70569","institution_ids":["https://openalex.org/I3018473509"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I3018473509"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2799175,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9681","last_page":"9688"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9951000213623047,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/grasp","display_name":"GRASP","score":0.8094382882118225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7575900554656982},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.709214448928833},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6529421210289001},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6343433856964111},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5369617342948914},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.4743325114250183},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.436473548412323},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4312082529067993},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2365923523902893},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09310409426689148}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8094382882118225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7575900554656982},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.709214448928833},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6529421210289001},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6343433856964111},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5369617342948914},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.4743325114250183},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.436473548412323},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4312082529067993},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2365923523902893},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09310409426689148},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros45743.2020.9341709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341709","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2101.04781","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.04781","pdf_url":"https://arxiv.org/pdf/2101.04781","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3118636256","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2101.04781.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:publica.fraunhofer.de:publica/409635","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/409635","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"},{"id":"doi:10.48550/arxiv.2101.04781","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2101.04781","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2101.04781","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2101.04781","pdf_url":"https://arxiv.org/pdf/2101.04781","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"},{"id":"https://openalex.org/F4320321408","display_name":"Ministry of Education","ror":"https://ror.org/01p262204"},{"id":"https://openalex.org/F4320322835","display_name":"Ministry of Economic Affairs","ror":"https://ror.org/042ge0913"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3118636256.pdf","grobid_xml":"https://content.openalex.org/works/W3118636256.grobid-xml"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W1547884835","https://openalex.org/W1843426432","https://openalex.org/W1892339738","https://openalex.org/W1999156278","https://openalex.org/W2002113266","https://openalex.org/W2005824379","https://openalex.org/W2036637075","https://openalex.org/W2082511574","https://openalex.org/W2110762409","https://openalex.org/W2123435073","https://openalex.org/W2201912979","https://openalex.org/W2220727987","https://openalex.org/W2414685554","https://openalex.org/W2570343428","https://openalex.org/W2585959050","https://openalex.org/W2600030077","https://openalex.org/W2605102758","https://openalex.org/W2615190535","https://openalex.org/W2768379550","https://openalex.org/W2768879211","https://openalex.org/W2798255267","https://openalex.org/W2893763910","https://openalex.org/W2897098291","https://openalex.org/W2901412466","https://openalex.org/W2953249127","https://openalex.org/W2953669419","https://openalex.org/W2962736495","https://openalex.org/W2962875890","https://openalex.org/W2962899390","https://openalex.org/W2963033241","https://openalex.org/W2963037989","https://openalex.org/W2963390419","https://openalex.org/W2963446712","https://openalex.org/W2963484919","https://openalex.org/W2964239605","https://openalex.org/W2967729293","https://openalex.org/W2969018702","https://openalex.org/W2971797306","https://openalex.org/W3003215308","https://openalex.org/W3003620461","https://openalex.org/W3088013802","https://openalex.org/W3088158297","https://openalex.org/W3089979088","https://openalex.org/W3100901148","https://openalex.org/W3100987608","https://openalex.org/W3102010291","https://openalex.org/W3106250896","https://openalex.org/W3112422759","https://openalex.org/W6632912538","https://openalex.org/W6688856396","https://openalex.org/W6697071109","https://openalex.org/W6738720193","https://openalex.org/W6753243525","https://openalex.org/W6754677871","https://openalex.org/W6764860167","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W3131961798","https://openalex.org/W2949408529","https://openalex.org/W3179479370","https://openalex.org/W3136875090","https://openalex.org/W3118582784","https://openalex.org/W3179738946","https://openalex.org/W2761290119","https://openalex.org/W3030239390","https://openalex.org/W2903364556","https://openalex.org/W2964214518","https://openalex.org/W2893763910","https://openalex.org/W3209254063","https://openalex.org/W2738801999","https://openalex.org/W3187686865","https://openalex.org/W2762815792","https://openalex.org/W3158779221","https://openalex.org/W2946735141","https://openalex.org/W2981049409","https://openalex.org/W3007009866","https://openalex.org/W2296180239"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"introduce":[4],"a":[5,52,57,68],"novel":[6],"learning-based":[7],"approach":[8],"for":[9,38,44],"grasping":[10,61,103],"known":[11],"rigid":[12],"objects":[13,46,111],"in":[14,51,67,100],"highly":[15],"cluttered":[16],"scenes":[17],"and":[18,35,62,71,106],"precisely":[19],"placing":[20],"them":[21],"based":[22],"on":[23],"depth":[24],"images.":[25],"Our":[26],"Placement":[27],"Quality":[28],"Network":[29],"(PQ-Net)":[30],"estimates":[31],"the":[32,36,72,78,92],"object":[33],"pose":[34,43],"quality":[37],"each":[39],"automatically":[40,107],"generated":[41],"grasp":[42],"multiple":[45],"simultaneously":[47],"at":[48],"92":[49],"fps":[50],"single":[53],"forward":[54],"pass":[55],"of":[56,102,112],"neural":[58],"network.":[59],"All":[60],"placement":[63],"trials":[64],"are":[65],"executed":[66],"physics":[69],"simulation":[70],"gained":[73],"experience":[74],"is":[75],"transferred":[76],"to":[77,91,109],"real":[79,93],"world":[80],"using":[81],"domain":[82],"randomization.":[83],"We":[84],"demonstrate":[85],"that":[86],"our":[87],"policy":[88],"successfully":[89],"transfers":[90],"world.":[94],"PQ-Net":[95],"outperforms":[96],"other":[97],"model-free":[98],"approaches":[99],"terms":[101],"success":[104],"rate":[105],"scales":[108],"new":[110],"arbitrary":[113],"symmetry":[114],"without":[115],"any":[116],"human":[117],"intervention.":[118]},"counts_by_year":[],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}
