{"id":"https://openalex.org/W3199614037","doi":"https://doi.org/10.1109/lra.2022.3142397","title":"Universal Manipulation Policy Network for Articulated Objects","display_name":"Universal Manipulation Policy Network for Articulated Objects","publication_year":2022,"publication_date":"2022-01-13","ids":{"openalex":"https://openalex.org/W3199614037","doi":"https://doi.org/10.1109/lra.2022.3142397","mag":"3199614037"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3142397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3142397","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2109.05668","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048580123","display_name":"Zhenjia Xu","orcid":"https://orcid.org/0000-0002-8217-4818"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhenjia Xu","raw_affiliation_strings":["Columbia University, New York, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-8217-4818","affiliations":[{"raw_affiliation_string":"Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103934489","display_name":"Zhanpeng He","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhanpeng He","raw_affiliation_strings":["Columbia University, New York, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004644695","display_name":"Shuran Song","orcid":"https://orcid.org/0000-0002-8768-7356"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shuran Song","raw_affiliation_strings":["Columbia University, New York, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-8768-7356","affiliations":[{"raw_affiliation_string":"Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I78577930"],"apc_list":null,"apc_paid":null,"fwci":4.4242,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.95402185,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"2447","last_page":"2454"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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":0.9984999895095825,"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/T10601","display_name":"Handwritten Text Recognition Techniques","score":0.9776999950408936,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.964900016784668,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5426351428031921},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38615018129348755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3688238561153412}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5426351428031921},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38615018129348755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3688238561153412}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3142397","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3142397","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2109.05668","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.05668","pdf_url":"https://arxiv.org/pdf/2109.05668","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2109.05668","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.05668","pdf_url":"https://arxiv.org/pdf/2109.05668","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G3360130846","display_name":null,"funder_award_id":"CMMI-2037101","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1483373940","https://openalex.org/W2051819074","https://openalex.org/W2084628926","https://openalex.org/W2092574465","https://openalex.org/W2135919567","https://openalex.org/W2161395589","https://openalex.org/W2162434188","https://openalex.org/W2294748366","https://openalex.org/W2609990452","https://openalex.org/W2807591401","https://openalex.org/W2925173345","https://openalex.org/W2962746398","https://openalex.org/W2963092423","https://openalex.org/W2963669336","https://openalex.org/W2964112890","https://openalex.org/W2964121744","https://openalex.org/W2979490629","https://openalex.org/W2980216391","https://openalex.org/W2983465317","https://openalex.org/W2991616621","https://openalex.org/W2998044783","https://openalex.org/W3031840745","https://openalex.org/W3031940935","https://openalex.org/W3034667697","https://openalex.org/W3035131925","https://openalex.org/W3035624836","https://openalex.org/W3037767967","https://openalex.org/W3044316436","https://openalex.org/W3081486916","https://openalex.org/W3089739707","https://openalex.org/W3120441392","https://openalex.org/W3133297141","https://openalex.org/W3138392552","https://openalex.org/W3202579984","https://openalex.org/W3207081724","https://openalex.org/W3209555046","https://openalex.org/W4288021424","https://openalex.org/W6720501231","https://openalex.org/W6760439459","https://openalex.org/W6767649332","https://openalex.org/W6778913165"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"We":[0],"introduce":[1,87],"the":[2,31,48,100,105,110,113,120],"Universal":[3],"Manipulation":[4],"Policy":[5],"Network":[6],"(UMPNet)":[7],"\u2013":[8],"a":[9,25,43,88,135],"single":[10],"image-based":[11],"policy":[12,32,49,65,122],"network":[13],"that":[14,93,128],"infers":[15],"closed-loop":[16],"action":[17,29,35,91,97],"sequences":[18],"for":[19],"manipulating":[20],"articulated":[21],"objects.":[22],"To":[23,41,81],"infer":[24],"wide":[26],"range":[27],"of":[28,46],"trajectories,":[30],"supports":[33],"6DoF":[34],"representation":[36],"and":[37,57,144],"varying":[38],"trajectory":[39],"length.":[40],"handle":[42],"diverse":[44],"set":[45],"objects,":[47],"learns":[50],"from":[51,134],"objects":[52,61],"with":[53,68],"different":[54],"articulation":[55],"structures":[56],"generalizes":[58],"to":[59,104,125],"unseen":[60],"or":[62,77,107,132],"categories.":[63],"The":[64],"is":[66,123],"trained":[67],"self-guided":[69],"exploration":[70,143],"without":[71],"any":[72],"human":[73],"demonstrations,":[74],"scripted":[75],"policy,":[76],"pre-defined":[78],"goal":[79],"conditions.":[80],"support":[82],"effective":[83,141],"multi-step":[84],"interaction,":[85],"we":[86],"novel":[89],"Arrow-of-Time":[90,114],"attribute":[92],"indicates":[94],"whether":[95],"an":[96],"will":[98],"change":[99],"object":[101],"state":[102,142],"back":[103],"past":[106],"forward":[108],"into":[109],"future.":[111],"With":[112],"inference":[115],"at":[116],"each":[117],"interaction":[118],"step,":[119],"learned":[121],"able":[124],"select":[126],"actions":[127],"consistently":[129],"lead":[130],"towards":[131],"away":[133],"given":[136],"state,":[137],"thereby,":[138],"enabling":[139],"both":[140],"goal-conditioned":[145],"manipulation.":[146]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-08-03T07:22:36.454288","created_date":"2021-09-27T00:00:00"}