{"id":"https://openalex.org/W4405785059","doi":"https://doi.org/10.1109/iros58592.2024.10802003","title":"Stick Roller: Precise In-hand Stick Rolling with a Sample-Efficient Tactile Model","display_name":"Stick Roller: Precise In-hand Stick Rolling with a Sample-Efficient Tactile Model","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785059","doi":"https://doi.org/10.1109/iros58592.2024.10802003"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5008010498","display_name":"Yipai Du","orcid":"https://orcid.org/0000-0001-6516-8478"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yipai Du","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113319924","display_name":"Pokuang Zhou","orcid":"https://orcid.org/0009-0004-7398-3367"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pokuang Zhou","raw_affiliation_strings":["Purdue University,West Lafayette,IN,USA,47907"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068828641","display_name":"Michael Yu Wang","orcid":"https://orcid.org/0000-0002-6524-5741"},"institutions":[{"id":"https://openalex.org/I4210096887","display_name":"HKUST Shenzhen Research Institute","ror":"https://ror.org/00sz56h79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I200769079","https://openalex.org/I20231570","https://openalex.org/I4210096887","https://openalex.org/I4210147811"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Michael Yu Wang","raw_affiliation_strings":["HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute,Shenzhen,China","institution_ids":["https://openalex.org/I4210096887","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017678179","display_name":"Wenzhao Lian","orcid":"https://orcid.org/0000-0002-0995-8229"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzhao Lian","raw_affiliation_strings":["University of Chinese Academy of Sciences,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences,China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018653973","display_name":"Yu She","orcid":"https://orcid.org/0000-0001-5914-3573"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu She","raw_affiliation_strings":["Purdue University,West Lafayette,IN,USA,47907"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8877,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73977936,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"2312","last_page":"2318"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9778000116348267,"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":0.9778000116348267,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9476000070571899,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9279999732971191,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/sample","display_name":"Sample (material)","score":0.6896884441375732},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5440444946289062},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5281804800033569},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3399254083633423},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.33422815799713135},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3242287039756775},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22670355439186096},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12325853109359741},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08278438448905945}],"concepts":[{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.6896884441375732},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5440444946289062},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5281804800033569},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3399254083633423},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.33422815799713135},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3242287039756775},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22670355439186096},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12325853109359741},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08278438448905945},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros58592.2024.10802003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-158361","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-158361","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W2013467411","https://openalex.org/W2040316778","https://openalex.org/W2545762824","https://openalex.org/W2775635818","https://openalex.org/W2781493652","https://openalex.org/W2917559944","https://openalex.org/W2949924544","https://openalex.org/W2963238274","https://openalex.org/W2972394921","https://openalex.org/W2990747716","https://openalex.org/W3008303301","https://openalex.org/W3100818121","https://openalex.org/W3130633756","https://openalex.org/W3138117074","https://openalex.org/W3176646219","https://openalex.org/W3192021195","https://openalex.org/W4293864724","https://openalex.org/W4308480946","https://openalex.org/W4313429295","https://openalex.org/W4383108265","https://openalex.org/W4383108491","https://openalex.org/W4385403828","https://openalex.org/W4385430685","https://openalex.org/W6730042731","https://openalex.org/W6847005445","https://openalex.org/W6847034507","https://openalex.org/W6856781027"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"In-hand":[0],"manipulation":[1,19,153],"is":[2,45,164,171],"challenging":[3],"in":[4,37,108],"robotics":[5],"due":[6],"to":[7,31,60,106],"the":[8,32,35,41,62,67,78,83,148],"intricate":[9],"contact":[10,128],"dynamics":[11,65,129],"and":[12,39,48,99,118,137],"high":[13,21],"degrees":[14],"of":[15,66,116,122],"control":[16],"freedom.":[17],"Precise":[18],"with":[20,52,82,101,154],"accuracy":[22],"often":[23],"requires":[24],"tactile":[25,64,86,96,155],"perception,":[26],"which":[27],"adds":[28],"further":[29],"complexity":[30,121],"system.":[33],"Despite":[34],"challenges":[36],"perception":[38,97],"control,":[40],"rolling":[42,68],"stick":[43,76],"problem":[44],"an":[46,92],"essential":[47],"practical":[49],"motion":[50],"primitive":[51],"many":[53],"demanding":[54],"industrial":[55],"applications.":[56],"This":[57],"work":[58],"aims":[59],"learn":[61],"high-resolution":[63],"stick.":[69],"Specifically,":[70],"we":[71],"try":[72],"manipulating":[73],"a":[74],"small":[75],"using":[77],"Allegro":[79],"hand":[80],"equipped":[81],"Digit":[84],"vision-based":[85],"sensor.":[87],"The":[88,144,160],"learning":[89,100],"framework":[90,146],"includes":[91],"action":[93],"filtering":[94],"module,":[95,98,103],"uncertainty":[102],"all":[104],"designed":[105],"operate":[107],"low":[109],"data":[110,117],"regimes.":[111],"With":[112],"only":[113],"2.3%":[114],"amount":[115],"5.7%":[119],"model":[120,130],"previous":[123],"similar":[124],"work,":[125],"our":[126],"learned":[127],"achieves":[131],"better":[132],"grasp":[133],"stability,":[134],"sub-millimeter":[135],"precision,":[136],"promising":[138],"zero-shot":[139],"generalizability":[140],"across":[141],"novel":[142],"objects.":[143],"proposed":[145],"demonstrates":[147],"potential":[149],"for":[150],"precise":[151],"in-hand":[152],"feedback":[156],"on":[157],"real":[158],"hardware.":[159],"project":[161],"source":[162],"code":[163],"available":[165,172],"at:":[166],"https://github.com/duyipai/Allegro_Digit.":[167],"A":[168],"video":[169],"presentation":[170],"here.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
