{"id":"https://openalex.org/W4416749568","doi":"https://doi.org/10.1109/iros60139.2025.11247432","title":"Celebi\u2019s Choice: Causality-Guided Skill Optimisation for Granular Manipulation via Differentiable Simulation","display_name":"Celebi\u2019s Choice: Causality-Guided Skill Optimisation for Granular Manipulation via Differentiable Simulation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749568","doi":"https://doi.org/10.1109/iros60139.2025.11247432"},"language":"en","primary_location":{"id":"doi:10.1109/iros60139.2025.11247432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247432","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":null,"display_name":"Minglun Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Minglun Wei","raw_affiliation_strings":["Cardiff University,School of Engineering,Cardiff,United Kingdom,CF24 3AA"],"affiliations":[{"raw_affiliation_string":"Cardiff University,School of Engineering,Cardiff,United Kingdom,CF24 3AA","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063751533","display_name":"Xintong Yang","orcid":"https://orcid.org/0000-0002-7612-614X"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xintong Yang","raw_affiliation_strings":["Cardiff University,School of Engineering,Cardiff,United Kingdom,CF24 3AA"],"affiliations":[{"raw_affiliation_string":"Cardiff University,School of Engineering,Cardiff,United Kingdom,CF24 3AA","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104068101","display_name":"Junyu Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Junyu Yan","raw_affiliation_strings":["The University of Edinburgh,School of Engineering,Edinburgh,United Kingdom,EH9 3FB"],"affiliations":[{"raw_affiliation_string":"The University of Edinburgh,School of Engineering,Edinburgh,United Kingdom,EH9 3FB","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067850699","display_name":"Yu\u2010Kun Lai","orcid":"https://orcid.org/0000-0002-2094-5680"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yu-Kun Lai","raw_affiliation_strings":["Cardiff University,School of Computer Science and Informatics,Cardiff,United Kingdom,CF24 4AG"],"affiliations":[{"raw_affiliation_string":"Cardiff University,School of Computer Science and Informatics,Cardiff,United Kingdom,CF24 4AG","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068175770","display_name":"Ze Ji","orcid":"https://orcid.org/0000-0002-8968-9902"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ze Ji","raw_affiliation_strings":["Cardiff University,School of Engineering,Cardiff,United Kingdom,CF24 3AA"],"affiliations":[{"raw_affiliation_string":"Cardiff University,School of Engineering,Cardiff,United Kingdom,CF24 3AA","institution_ids":["https://openalex.org/I79510175"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79510175"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44028463,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15845","last_page":"15852"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5789999961853027,"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":0.5789999961853027,"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":0.125900000333786,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.03420000150799751,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.7049000263214111},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6189000010490417},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5228000283241272},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.5113000273704529},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5094000101089478},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.49480000138282776},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48669999837875366},{"id":"https://openalex.org/keywords/levelling","display_name":"Levelling","score":0.4823000133037567}],"concepts":[{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.7049000263214111},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6189000010490417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5713000297546387},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5228000283241272},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.5113000273704529},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5094000101089478},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.49480000138282776},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48669999837875366},{"id":"https://openalex.org/C100260852","wikidata":"https://www.wikidata.org/wiki/Q961466","display_name":"Levelling","level":2,"score":0.4823000133037567},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4424999952316284},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.43140000104904175},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.4253999888896942},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4018999934196472},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.3831000030040741},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30660000443458557},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.30379998683929443},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2953999936580658},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28630000352859497},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2741999924182892},{"id":"https://openalex.org/C500300565","wikidata":"https://www.wikidata.org/wiki/Q925667","display_name":"Computer simulation","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.26649999618530273},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.2614000141620636},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.25850000977516174},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.2554999887943268},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.25130000710487366}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros60139.2025.11247432","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247432","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"},{"id":"pmh:oai:https://orca.cardiff.ac.uk:183170","is_oa":false,"landing_page_url":"https://orca.cardiff.ac.uk/view/cardiffauthors/A523007D.html>","pdf_url":null,"source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2465888780","https://openalex.org/W2794663059","https://openalex.org/W2810873357","https://openalex.org/W3023021572","https://openalex.org/W3090049255","https://openalex.org/W3101287459","https://openalex.org/W3129707478","https://openalex.org/W3166648240","https://openalex.org/W3207571032","https://openalex.org/W3208117044","https://openalex.org/W4285124275","https://openalex.org/W4285818216","https://openalex.org/W4385430450","https://openalex.org/W4385430528","https://openalex.org/W4389339365","https://openalex.org/W4389665473","https://openalex.org/W4410220565","https://openalex.org/W4415624389"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"soil":[1],"manipulation":[2],"is":[3],"essential":[4],"for":[5,59],"automated":[6],"farming,":[7],"particularly":[8],"in":[9,108,122],"excavation":[10,124],"and":[11,27,91,104,111,119,125],"levelling":[12,126],"tasks.":[13,127],"However,":[14],"the":[15],"nonlinear":[16],"dynamics":[17],"of":[18],"granular":[19,60],"materials":[20],"challenge":[21],"traditional":[22],"control":[23],"methods,":[24],"limiting":[25],"stability":[26,103],"efficiency.":[28,106],"We":[29,63],"propose":[30],"Celebi,":[31],"a":[32,55,69],"causality-enhanced":[33],"optimisation":[34,102],"method":[35],"that":[36],"integrates":[37],"differentiable":[38,56,70],"physics":[39],"simulation":[40,57],"with":[41,68],"adaptive":[42],"step-size":[43],"adjustments":[44],"based":[45],"on":[46],"causal":[47,81],"inference.":[48],"To":[49],"enable":[50],"gradient-based":[51],"optimisation,":[52],"we":[53],"construct":[54],"environment":[58],"material":[61],"interactions.":[62],"further":[64],"define":[65],"skill":[66,92],"parameters":[67],"mapping":[71],"to":[72,100],"end-effector":[73],"motions,":[74],"facilitating":[75],"efficient":[76],"trajectory":[77],"optimisation.":[78],"By":[79],"modelling":[80],"effects":[82],"between":[83],"task-relevant":[84],"features":[85],"extracted":[86],"from":[87],"point":[88],"cloud":[89],"observations":[90],"parameters,":[93],"Celebi":[94],"selectively":[95],"adjusts":[96],"update":[97],"step":[98],"sizes":[99],"enhance":[101],"convergence":[105],"Experiments":[107],"both":[109],"simulated":[110],"real-world":[112],"environments":[113],"validate":[114],"Celebi\u2019s":[115],"effectiveness,":[116],"demonstrating":[117],"robust":[118],"reliable":[120],"performance":[121],"robotic":[123]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-11-28T00:00:00"}
