{"id":"https://openalex.org/W4405785048","doi":"https://doi.org/10.1109/iros58592.2024.10802246","title":"Simulation-Assisted Learning for Efficient Bin-Packing of Deformable Packages in a Bimanual Robotic Cell","display_name":"Simulation-Assisted Learning for Efficient Bin-Packing of Deformable Packages in a Bimanual Robotic Cell","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785048","doi":"https://doi.org/10.1109/iros58592.2024.10802246"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802246","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802246","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/A5004497963","display_name":"Omey M. Manyar","orcid":"https://orcid.org/0000-0002-4420-0894"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Omey M. Manyar","raw_affiliation_strings":["University of Southern California,Realization of Robotic Systems Lab,Los Angeles,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Realization of Robotic Systems Lab,Los Angeles,CA,USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107949647","display_name":"H. Ye","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hantao Ye","raw_affiliation_strings":["University of Southern California,Realization of Robotic Systems Lab,Los Angeles,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Realization of Robotic Systems Lab,Los Angeles,CA,USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088909567","display_name":"Meghana Sagare","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Meghana Sagare","raw_affiliation_strings":["University of Southern California,Realization of Robotic Systems Lab,Los Angeles,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Realization of Robotic Systems Lab,Los Angeles,CA,USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056597923","display_name":"Siddharth Mayya","orcid":"https://orcid.org/0000-0001-5168-413X"},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddharth Mayya","raw_affiliation_strings":["Amazon Robotics,North Reading,MA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Amazon Robotics,North Reading,MA,USA","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100719173","display_name":"Fan Wang","orcid":"https://orcid.org/0000-0001-7320-1119"},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fan Wang","raw_affiliation_strings":["Amazon Robotics,North Reading,MA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Amazon Robotics,North Reading,MA,USA","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083094281","display_name":"Satyandra K. Gupta","orcid":"https://orcid.org/0000-0002-6025-7903"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Satyandra K. Gupta","raw_affiliation_strings":["University of Southern California,Realization of Robotic Systems Lab,Los Angeles,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Realization of Robotic Systems Lab,Los Angeles,CA,USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5211","last_page":"5218"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.6496890783309937},{"id":"https://openalex.org/keywords/bin-packing-problem","display_name":"Bin packing problem","score":0.5214056968688965},{"id":"https://openalex.org/keywords/bin","display_name":"Bin","score":0.5112380981445312},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.4002968966960907},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39803528785705566},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.32160377502441406},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1452234983444214},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.098320871591568}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6496890783309937},{"id":"https://openalex.org/C87219788","wikidata":"https://www.wikidata.org/wiki/Q814581","display_name":"Bin packing problem","level":3,"score":0.5214056968688965},{"id":"https://openalex.org/C156273044","wikidata":"https://www.wikidata.org/wiki/Q4913766","display_name":"Bin","level":2,"score":0.5112380981445312},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4002968966960907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39803528785705566},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.32160377502441406},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1452234983444214},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.098320871591568}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802246","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802246","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2158782408","https://openalex.org/W2560609797","https://openalex.org/W2605297402","https://openalex.org/W2950666158","https://openalex.org/W2967100581","https://openalex.org/W2967842325","https://openalex.org/W2973806867","https://openalex.org/W2985274320","https://openalex.org/W3049043369","https://openalex.org/W3090054427","https://openalex.org/W3113053674","https://openalex.org/W3194488868","https://openalex.org/W3205588108","https://openalex.org/W3205960420","https://openalex.org/W4200291756","https://openalex.org/W4229002925","https://openalex.org/W4312198806","https://openalex.org/W4312610897","https://openalex.org/W4312962598","https://openalex.org/W4316660701","https://openalex.org/W4362653121","https://openalex.org/W4383108737","https://openalex.org/W4385403823","https://openalex.org/W4385493097","https://openalex.org/W4389667186","https://openalex.org/W6637131181","https://openalex.org/W6857814993"],"related_works":["https://openalex.org/W2797538013","https://openalex.org/W2026961896","https://openalex.org/W173368591","https://openalex.org/W2034272113","https://openalex.org/W2138242427","https://openalex.org/W2104955674","https://openalex.org/W4288260564","https://openalex.org/W2068892231","https://openalex.org/W2096053066","https://openalex.org/W2001915926"],"abstract_inverted_index":{"Bin-packing":[0],"is":[1,137],"an":[2,124,165],"important":[3],"problem":[4,12,31],"in":[5,71,108,132,139,141,181],"the":[6,30],"robotic":[7],"warehouse":[8],"domain.":[9],"Traditionally,":[10],"this":[11,26],"has":[13],"been":[14],"studied":[15],"only":[16],"for":[17,43,84,91],"rigid":[18,23],"packages":[19,36,70],"(e.g.,":[20],"boxes":[21],"or":[22],"objects).":[24],"In":[25],"work,":[27],"we":[28,75,104],"tackle":[29],"of":[32,118,167],"bin-packing":[33,85,119,159],"with":[34,164],"deformable":[35,69],"that":[37,50],"have":[38],"become":[39],"a":[40,48,52,72,77,98,106,109,114,149],"popular":[41],"choice":[42],"fulfillment":[44],"needs.":[45],"We":[46],"present":[47],"system":[49],"incorporates":[51],"dual":[53],"robot":[54],"arm":[55],"bimanual":[56],"setup,":[57],"uniquely":[58],"combining":[59],"suction":[60],"and":[61,66,121,143,178],"sweeping":[62],"motions":[63],"to":[64,82,112,128,175],"stably":[65],"reliably":[67],"pack":[68],"bin.":[73],"Additionally,":[74],"propose":[76],"comprehensive":[78],"action":[79],"prediction":[80,156],"framework":[81],"optimize":[83],"efficiency":[86,120],"by":[87],"predicting":[88],"optimal":[89,130],"actions":[90,131],"both":[92],"robots":[93],"involved.":[94],"Our":[95,153],"methodology":[96],"leverages":[97],"two-pronged":[99],"learning":[100],"strategy,":[101],"where":[102],"initially,":[103],"train":[105],"model":[107,136,157],"self-supervised":[110],"manner":[111],"predict":[113],"scoring":[115],"metric":[116],"indicative":[117],"then":[122],"leverage":[123],"online":[125],"optimization":[126],"scheme":[127],"compute":[129],"real":[133],"time.":[134],"The":[135],"pre-trained":[138],"simulation":[140],"MuJoCo":[142],"fine-tuned":[144],"on":[145],"small-scale":[146],"data":[147],"from":[148],"real-world":[150],"laboratory":[151],"setting.":[152],"packing":[154,182],"score":[155,160],"predicts":[158],"\u2208":[161],"[0,":[162],"1]":[163],"MSE":[166],"0.003.":[168],"Real-world":[169],"experiments":[170],"validate":[171],"our":[172],"method\u2019s":[173],"adaptability":[174],"novel":[176],"scenarios":[177],"its":[179],"effectiveness":[180],"operations.":[183],"Project":[184],"Website:":[185],"https://sites.google.com/usc.edu/bimanual-binpacking/":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
