{"id":"https://openalex.org/W4416750151","doi":"https://doi.org/10.1109/iros60139.2025.11246437","title":"QBIT: Quality-Aware Cloud-Based Benchmarking for Robotic Insertion Tasks","display_name":"QBIT: Quality-Aware Cloud-Based Benchmarking for Robotic Insertion Tasks","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750151","doi":"https://doi.org/10.1109/iros60139.2025.11246437"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246437","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5048853380","display_name":"Constantin Schempp","orcid":"https://orcid.org/0000-0003-2916-3033"},"institutions":[{"id":"https://openalex.org/I70886390","display_name":"Karlsruhe University of Applied Sciences","ror":"https://ror.org/01c0m1t63","country_code":"DE","type":"education","lineage":["https://openalex.org/I70886390"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Constantin Schempp","raw_affiliation_strings":["Karlsruhe University of Applied Sciences,Karlsruhe,Germany,76133"],"affiliations":[{"raw_affiliation_string":"Karlsruhe University of Applied Sciences,Karlsruhe,Germany,76133","institution_ids":["https://openalex.org/I70886390"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021802123","display_name":"Yongzhou Zhang","orcid":"https://orcid.org/0000-0002-1236-4878"},"institutions":[{"id":"https://openalex.org/I70886390","display_name":"Karlsruhe University of Applied Sciences","ror":"https://ror.org/01c0m1t63","country_code":"DE","type":"education","lineage":["https://openalex.org/I70886390"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yongzhou Zhang","raw_affiliation_strings":["Karlsruhe University of Applied Sciences,Karlsruhe,Germany,76133"],"affiliations":[{"raw_affiliation_string":"Karlsruhe University of Applied Sciences,Karlsruhe,Germany,76133","institution_ids":["https://openalex.org/I70886390"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103189764","display_name":"Christian Friedrich","orcid":"https://orcid.org/0000-0002-1882-5524"},"institutions":[{"id":"https://openalex.org/I70886390","display_name":"Karlsruhe University of Applied Sciences","ror":"https://ror.org/01c0m1t63","country_code":"DE","type":"education","lineage":["https://openalex.org/I70886390"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Friedrich","raw_affiliation_strings":["Karlsruhe University of Applied Sciences,Karlsruhe,Germany,76133"],"affiliations":[{"raw_affiliation_string":"Karlsruhe University of Applied Sciences,Karlsruhe,Germany,76133","institution_ids":["https://openalex.org/I70886390"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075805786","display_name":"Bj\u00f6rn Hein","orcid":"https://orcid.org/0000-0001-9569-5201"},"institutions":[{"id":"https://openalex.org/I70886390","display_name":"Karlsruhe University of Applied Sciences","ror":"https://ror.org/01c0m1t63","country_code":"DE","type":"education","lineage":["https://openalex.org/I70886390"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bj\u00f6rn Hein","raw_affiliation_strings":["Karlsruhe University of Applied Sciences,Karlsruhe,Germany,76133"],"affiliations":[{"raw_affiliation_string":"Karlsruhe University of Applied Sciences,Karlsruhe,Germany,76133","institution_ids":["https://openalex.org/I70886390"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5048853380"],"corresponding_institution_ids":["https://openalex.org/I70886390"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44980471,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1341","last_page":"1348"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.3116999864578247,"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":0.3116999864578247,"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/T13382","display_name":"Robotics and Automated Systems","score":0.20569999516010284,"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/T11741","display_name":"Flexible and Reconfigurable Manufacturing Systems","score":0.05299999937415123,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.8349000215530396},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.44350001215934753},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.40619999170303345},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.38909998536109924},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3822000026702881},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.3774000108242035},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.3637999892234802},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.34040001034736633}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.8349000215530396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5856999754905701},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.44350001215934753},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.40619999170303345},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.38909998536109924},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3822000026702881},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3774000108242035},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.3637999892234802},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.34040001034736633},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.33550000190734863},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.328000009059906},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31779998540878296},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.3156000077724457},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.3151000142097473},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.30160000920295715},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.2879999876022339},{"id":"https://openalex.org/C2778348673","wikidata":"https://www.wikidata.org/wiki/Q739302","display_name":"Production (economics)","level":2,"score":0.28369998931884766},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.2793000042438507},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2750999927520752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2694000005722046},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.26190000772476196},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2531999945640564},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246437","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246437","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320311649","display_name":"Ministry of Education","ror":"https://ror.org/036nq5137"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1570792896","https://openalex.org/W2041434319","https://openalex.org/W2102883217","https://openalex.org/W2158782408","https://openalex.org/W2166042980","https://openalex.org/W2167340365","https://openalex.org/W2626867313","https://openalex.org/W3007769740","https://openalex.org/W3159735414","https://openalex.org/W3201707474","https://openalex.org/W3213354518","https://openalex.org/W4229456580","https://openalex.org/W4280571816","https://openalex.org/W4316876974","https://openalex.org/W4383108367","https://openalex.org/W4383108724","https://openalex.org/W4383108802","https://openalex.org/W4396224479","https://openalex.org/W4399591659","https://openalex.org/W4399883053","https://openalex.org/W4401163449","https://openalex.org/W4403676057","https://openalex.org/W4404132546","https://openalex.org/W4405785482","https://openalex.org/W4414050902"],"related_works":[],"abstract_inverted_index":{"Insertion":[0],"tasks":[1],"are":[2],"fundamental":[3],"yet":[4],"challenging":[5],"for":[6,94],"robots,":[7],"particularly":[8],"in":[9,30,89,143,170],"autonomous":[10],"operations,":[11],"due":[12],"to":[13,23,26,71,119,128,181],"their":[14],"continuous":[15],"interaction":[16],"with":[17,126],"the":[18,27,82,90,153,166,177],"environment.":[19],"AI-based":[20],"approaches":[21,174],"appear":[22],"be":[24],"up":[25],"challenge,":[28],"but":[29],"production":[31],"they":[32],"must":[33,41],"not":[34],"only":[35],"achieve":[36],"high":[37],"success":[38],"rates.":[39],"They":[40],"also":[42],"ensure":[43,77],"insertion":[44,137,173],"quality":[45],"and":[46,68,80,97,112,141,146,175],"reliability.":[47],"To":[48,76,115],"address":[49],"this,":[50],"we":[51,85,123,151],"introduce":[52],"QBIT,":[53],"a":[54,73,102],"quality-aware":[55],"benchmarking":[56],"framework":[57],"that":[58],"incorporates":[59],"additional":[60],"metrics":[61],"such":[62],"as":[63],"force":[64,66],"energy,":[65],"smoothness":[67],"completion":[69],"time":[70],"provide":[72],"comprehensive":[74],"assessment.":[75],"statistical":[78],"significance":[79],"minimize":[81],"sim-to-real":[83],"gap,":[84],"randomize":[86],"contact":[87,156],"parameters":[88],"MuJoCo":[91],"simulator,":[92],"account":[93],"perceptual":[95],"uncertainty,":[96],"conduct":[98],"large-scale":[99],"experiments":[100],"on":[101,187],"Kubernetes-based":[103],"infrastructure.":[104],"Our":[105,163],"microservice-oriented":[106],"architecture":[107],"ensures":[108],"extensibility,":[109],"broad":[110],"applicability,":[111],"improved":[113],"reproducibility.":[114],"facilitate":[116],"seamless":[117],"transitions":[118],"physical":[120],"robotic":[121],"testing,":[122],"use":[124],"ROS2":[125],"containerization":[127],"reduce":[129],"integration":[130],"barriers.":[131],"We":[132],"evaluate":[133],"QBIT":[134,169],"using":[135,158],"three":[136],"approaches:":[138],"geometric-based,":[139],"force-based,":[140],"learning-based,":[142],"both":[144],"simulated":[145],"real-world":[147,182],"environments.":[148],"In":[149],"simulation,":[150],"compare":[152],"accuracy":[154],"of":[155,168],"simulation":[157],"different":[159,172],"mesh":[160],"decomposition":[161],"techniques.":[162],"results":[164],"demonstrate":[165],"effectiveness":[167],"comparing":[171],"accelerating":[176],"transition":[178],"from":[179],"laboratory":[180],"applications.":[183],"Code":[184],"is":[185],"available":[186],"GitHub<sup":[188],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[189],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>.":[190]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
