{"id":"https://openalex.org/W4416748968","doi":"https://doi.org/10.1109/iros60139.2025.11247239","title":"STACKGEN: Generating Stable Structures from Silhouettes via Diffusion","display_name":"STACKGEN: Generating Stable Structures from Silhouettes via Diffusion","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748968","doi":"https://doi.org/10.1109/iros60139.2025.11247239"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247239","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/A5056931880","display_name":"Lu\u2010Zhe Sun","orcid":"https://orcid.org/0000-0001-7117-4559"},"institutions":[{"id":"https://openalex.org/I160992636","display_name":"Toyota Technological Institute at Chicago","ror":"https://ror.org/02sn5gb64","country_code":"US","type":"education","lineage":["https://openalex.org/I160992636"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Luzhe Sun","raw_affiliation_strings":["Toyota Technological Institute at Chicago (TTIC),Chicago,IL,USA"],"affiliations":[{"raw_affiliation_string":"Toyota Technological Institute at Chicago (TTIC),Chicago,IL,USA","institution_ids":["https://openalex.org/I160992636"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086678121","display_name":"Takuma Yoneda","orcid":null},"institutions":[{"id":"https://openalex.org/I160992636","display_name":"Toyota Technological Institute at Chicago","ror":"https://ror.org/02sn5gb64","country_code":"US","type":"education","lineage":["https://openalex.org/I160992636"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Takuma Yoneda","raw_affiliation_strings":["Toyota Technological Institute at Chicago (TTIC),Chicago,IL,USA"],"affiliations":[{"raw_affiliation_string":"Toyota Technological Institute at Chicago (TTIC),Chicago,IL,USA","institution_ids":["https://openalex.org/I160992636"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114419295","display_name":"Samuel W. Wheeler","orcid":null},"institutions":[{"id":"https://openalex.org/I1282105669","display_name":"Argonne National Laboratory","ror":"https://ror.org/05gvnxz63","country_code":"US","type":"facility","lineage":["https://openalex.org/I1282105669","https://openalex.org/I1330989302","https://openalex.org/I39565521","https://openalex.org/I40347166"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel W. Wheeler","raw_affiliation_strings":["Argonne National Laboratory,Lemont,IL,USA"],"affiliations":[{"raw_affiliation_string":"Argonne National Laboratory,Lemont,IL,USA","institution_ids":["https://openalex.org/I1282105669"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070703219","display_name":"Tianchong Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I160992636","display_name":"Toyota Technological Institute at Chicago","ror":"https://ror.org/02sn5gb64","country_code":"US","type":"education","lineage":["https://openalex.org/I160992636"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianchong Jiang","raw_affiliation_strings":["Toyota Technological Institute at Chicago (TTIC),Chicago,IL,USA"],"affiliations":[{"raw_affiliation_string":"Toyota Technological Institute at Chicago (TTIC),Chicago,IL,USA","institution_ids":["https://openalex.org/I160992636"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103153703","display_name":"Matthew R. Walter","orcid":"https://orcid.org/0000-0003-1425-6050"},"institutions":[{"id":"https://openalex.org/I160992636","display_name":"Toyota Technological Institute at Chicago","ror":"https://ror.org/02sn5gb64","country_code":"US","type":"education","lineage":["https://openalex.org/I160992636"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew R. Walter","raw_affiliation_strings":["Toyota Technological Institute at Chicago (TTIC),Chicago,IL,USA"],"affiliations":[{"raw_affiliation_string":"Toyota Technological Institute at Chicago (TTIC),Chicago,IL,USA","institution_ids":["https://openalex.org/I160992636"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5056931880"],"corresponding_institution_ids":["https://openalex.org/I160992636"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.40813214,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6235","last_page":"6242"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.8303999900817871,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.8303999900817871,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.07660000026226044,"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/T10868","display_name":"Soft Robotics and Applications","score":0.010200000368058681,"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/intuition","display_name":"Intuition","score":0.72079998254776},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6152999997138977},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.40700000524520874},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.31790000200271606},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.3109999895095825},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.29750001430511475}],"concepts":[{"id":"https://openalex.org/C132010649","wikidata":"https://www.wikidata.org/wiki/Q189222","display_name":"Intuition","level":2,"score":0.72079998254776},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6152999997138977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5618000030517578},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46230000257492065},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.40700000524520874},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35030001401901245},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.31790000200271606},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.3109999895095825},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.29750001430511475},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29319998621940613},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.29179999232292175},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2833000123500824},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.2590000033378601},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2572000026702881},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247239","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2059100041","https://openalex.org/W2083421359","https://openalex.org/W2200588385","https://openalex.org/W2507135045","https://openalex.org/W2528489519","https://openalex.org/W2799140957","https://openalex.org/W2921599593","https://openalex.org/W3003909751","https://openalex.org/W4285004868","https://openalex.org/W4312933868","https://openalex.org/W4383109488","https://openalex.org/W4385403811","https://openalex.org/W4385403813","https://openalex.org/W4385430539","https://openalex.org/W4388894246","https://openalex.org/W4390873054","https://openalex.org/W4401414761","https://openalex.org/W4402353993"],"related_works":[],"abstract_inverted_index":{"Humans":[0],"naturally":[1],"obtain":[2],"intuition":[3,24],"about":[4],"the":[5,9,19,27,51,60,64,75,103,133,136,149,161],"interactions":[6],"between":[7],"and":[8,16,70,83,145],"stability":[10],"of":[11,59,67,74,93,106,124,135],"rigid":[12],"objects":[13,34,107],"by":[14,160],"observing":[15],"interacting":[17],"with":[18],"world.":[20],"It":[21],"is":[22,165],"this":[23],"that":[25,62,96,112,119],"governs":[26],"way":[28],"in":[29,35,108,141,148],"which":[30,78],"we":[31,114,138],"regularly":[32],"configure":[33],"our":[36],"environment,":[37],"allowing":[38],"us":[39],"to":[40,81,99,156],"build":[41],"complex":[42],"structures":[43,158],"from":[44,90],"simple,":[45],"everyday":[46],"objects.":[47],"Robotic":[48],"agents,":[49],"on":[50],"other":[52],"hand,":[53],"traditionally":[54],"require":[55],"an":[56,71,91],"explicit":[57],"model":[58,73,118],"world":[61],"includes":[63],"detailed":[65],"geometry":[66],"each":[68],"object":[69],"analytical":[72],"environment":[76,144],"dynamics,":[77],"are":[79],"difficult":[80],"scale":[82],"preclude":[84],"generalization.":[85],"Instead,":[86],"robots":[87],"would":[88],"benefit":[89],"awareness":[92],"intuitive":[94],"physics":[95],"enables":[97],"them":[98],"similarly":[100],"reason":[101],"over":[102],"stable":[104,122],"interaction":[105],"their":[109],"environment.":[110],"Towards":[111],"goal,":[113],"propose":[115],"STACKGEN\u2014a":[116],"diffusion":[117],"generates":[120],"diverse":[121],"configurations":[123],"building":[125],"blocks":[126],"matching":[127],"a":[128,142,153],"target":[129],"silhouette.":[130],"To":[131],"demonstrate":[132],"capability":[134],"method,":[137],"evaluate":[139],"it":[140,147],"simulated":[143],"deploy":[146],"real":[150],"setting":[151],"using":[152],"robotic":[154],"arm":[155],"assemble":[157],"generated":[159],"model.":[162],"Our":[163],"code":[164],"available":[166],"at":[167],"https://ripl.github.io/StackGen.":[168]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}