{"id":"https://openalex.org/W4312858768","doi":"https://doi.org/10.1109/iros47612.2022.9981845","title":"SESR: Self-Ensembling Sim-to-Real Instance Segmentation for Auto-Store Bin Picking","display_name":"SESR: Self-Ensembling Sim-to-Real Instance Segmentation for Auto-Store Bin Picking","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312858768","doi":"https://doi.org/10.1109/iros47612.2022.9981845"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981845","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5079414852","display_name":"Biqi Yang","orcid":"https://orcid.org/0009-0007-5956-7350"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Biqi Yang","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Computer Science and Engineering","Department of Computer Science and Engineering, The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032734433","display_name":"Xiaojie Gao","orcid":"https://orcid.org/0000-0001-6517-7630"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xiaojie Gao","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Computer Science and Engineering","Department of Computer Science and Engineering, The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100437922","display_name":"Kai Chen","orcid":"https://orcid.org/0000-0001-5727-385X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kai Chen","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Computer Science and Engineering","Department of Computer Science and Engineering, The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077167782","display_name":"Rui Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Rui Cao","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Computer Science and Engineering","Department of Computer Science and Engineering, The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041884779","display_name":"Yidan Feng","orcid":"https://orcid.org/0000-0001-7208-0458"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yidan Feng","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics,Department of Computer Science and Engineering","Department of Computer Science and Engineering, Nanjing University of Aeronautics and Astronautics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics,Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Nanjing University of Aeronautics and Astronautics","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101763340","display_name":"Xianzhi Li","orcid":"https://orcid.org/0000-0002-0231-720X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianzhi Li","raw_affiliation_strings":["School of Computer Science and Technology, Huazhong University of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Huazhong University of Science and Technology","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090516040","display_name":"Qi Dou","orcid":"https://orcid.org/0000-0002-3416-9950"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qi Dou","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Computer Science and Engineering","Department of Computer Science and Engineering, The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054382056","display_name":"Chi\u2010Wing Fu","orcid":"https://orcid.org/0000-0002-5238-593X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chi-Wing Fu","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Computer Science and Engineering","Department of Computer Science and Engineering, The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032708386","display_name":"Pheng\u2010Ann Heng","orcid":"https://orcid.org/0000-0003-3055-5034"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Pheng-Ann Heng","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Computer Science and Engineering","Guangdong-Hong Kong-Macao Joint Laboratory, Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences","Department of Computer Science and Engineering, The Chinese University of Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Computer Science and Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Guangdong-Hong Kong-Macao Joint Laboratory, Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210145761"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7015,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65777822,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"5987","last_page":"5994"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9976000189781189,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.8208129405975342},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.6989659667015076},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5984114408493042},{"id":"https://openalex.org/keywords/bin","display_name":"Bin","score":0.5792618989944458},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5453164577484131},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5119906067848206},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47464829683303833},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.46828290820121765},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.45102494955062866},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.4428134560585022},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4392049014568329},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09199139475822449}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8208129405975342},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.6989659667015076},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5984114408493042},{"id":"https://openalex.org/C156273044","wikidata":"https://www.wikidata.org/wiki/Q4913766","display_name":"Bin","level":2,"score":0.5792618989944458},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5453164577484131},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5119906067848206},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47464829683303833},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.46828290820121765},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.45102494955062866},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.4428134560585022},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4392049014568329},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09199139475822449},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981845","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5387761213","display_name":null,"funder_award_id":"62172218","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W1731081199","https://openalex.org/W2124351162","https://openalex.org/W2160754664","https://openalex.org/W2168804568","https://openalex.org/W2295107390","https://openalex.org/W2552414813","https://openalex.org/W2584009249","https://openalex.org/W2603737562","https://openalex.org/W2605102758","https://openalex.org/W2799124825","https://openalex.org/W2886773299","https://openalex.org/W2895439318","https://openalex.org/W2951696358","https://openalex.org/W2951970475","https://openalex.org/W2953433552","https://openalex.org/W2955278847","https://openalex.org/W2962837436","https://openalex.org/W2962867364","https://openalex.org/W2962899390","https://openalex.org/W2963150697","https://openalex.org/W2963275094","https://openalex.org/W2963311325","https://openalex.org/W2963390419","https://openalex.org/W2963921921","https://openalex.org/W2964159205","https://openalex.org/W2965407719","https://openalex.org/W2968800739","https://openalex.org/W2981540341","https://openalex.org/W3021542222","https://openalex.org/W3034239110","https://openalex.org/W3035198432","https://openalex.org/W3035680157","https://openalex.org/W3042729974","https://openalex.org/W3046136908","https://openalex.org/W3088310808","https://openalex.org/W3120778962","https://openalex.org/W3129798399","https://openalex.org/W3137905681","https://openalex.org/W3169200952","https://openalex.org/W3172507542","https://openalex.org/W3200139538","https://openalex.org/W3202459445","https://openalex.org/W4210922806","https://openalex.org/W4288325606","https://openalex.org/W6637618735","https://openalex.org/W6683633756","https://openalex.org/W6684249991","https://openalex.org/W6733814495","https://openalex.org/W6737496325","https://openalex.org/W6764051988","https://openalex.org/W6764322716","https://openalex.org/W6766284323","https://openalex.org/W6766956246","https://openalex.org/W6767465851","https://openalex.org/W6776778719","https://openalex.org/W6779101013","https://openalex.org/W6781542114","https://openalex.org/W6801389079"],"related_works":["https://openalex.org/W2107701374","https://openalex.org/W1616588898","https://openalex.org/W4249504934","https://openalex.org/W2183416055","https://openalex.org/W2568867011","https://openalex.org/W1994114538","https://openalex.org/W2413205705","https://openalex.org/W2735644334","https://openalex.org/W138879321","https://openalex.org/W4244509969"],"abstract_inverted_index":{"Instance":[0],"segmentation":[1,14,140],"is":[2,54],"an":[3,105],"important":[4],"task":[5],"for":[6,61],"supporting":[7],"robotic":[8],"grasping":[9],"in":[10],"auto-store":[11,106,145],"scenarios.":[12],"Accurate":[13],"usually":[15],"relies":[16],"on":[17,44,114],"the":[18,93,98,122,132],"quantity":[19],"and":[20,76,96,118,124,131],"quality":[21],"of":[22,65,89,126],"available":[23],"annotated":[24],"training":[25],"data.":[26],"However,":[27],"it":[28],"requires":[29],"tremendous":[30],"cost":[31],"to":[32,56,91],"obtain":[33],"these":[34],"labels.":[35],"In":[36],"this":[37],"work,":[38],"without":[39],"requiring":[40],"any":[41],"human":[42],"annotations":[43],"real":[45],"data,":[46],"our":[47,70,127,139],"proposed":[48],"self-ensembling":[49,83],"sim-to-real":[50,94],"network,":[51],"namely":[52],"SESR,":[53],"able":[55],"generate":[57],"precise":[58],"instance":[59],"masks":[60],"a":[62,73,77,82],"wide":[63],"variety":[64],"supermarket":[66],"goods.":[67,111],"We":[68,85],"design":[69],"SESR":[71],"with":[72,81],"teacher":[74],"model":[75,79,99],"student":[78],"trained":[80],"strategy.":[84],"adopt":[86],"different":[87],"levels":[88],"consistency":[90],"bridge":[92],"gap":[95],"boost":[97],"generalization":[100],"ability.":[101],"Also,":[102],"we":[103],"compile":[104],"bin-picking":[107],"dataset":[108],"covering":[109],"various":[110],"Extensive":[112],"experiments":[113],"both":[115],"unseen":[116,119],"scenarios":[117],"objects":[120],"validate":[121],"effectiveness":[123],"superiority":[125],"method":[128],"over":[129],"others,":[130],"robot":[133],"arm":[134],"demonstrations":[135],"further":[136],"show":[137],"that":[138],"results":[141],"can":[142],"support":[143],"real-time":[144],"bin":[146],"picking.":[147]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
