{"id":"https://openalex.org/W4213417100","doi":"https://doi.org/10.1109/lra.2022.3153728","title":"Robot Cooking With Stir-Fry: Bimanual Non-Prehensile Manipulation of Semi-Fluid Objects","display_name":"Robot Cooking With Stir-Fry: Bimanual Non-Prehensile Manipulation of Semi-Fluid Objects","publication_year":2022,"publication_date":"2022-02-24","ids":{"openalex":"https://openalex.org/W4213417100","doi":"https://doi.org/10.1109/lra.2022.3153728"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3153728","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3153728","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/2205.05960","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071018452","display_name":"Junjia Liu","orcid":"https://orcid.org/0000-0003-2428-5533"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Junjia Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-2428-5533","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100348274","display_name":"Yi-Ting Chen","orcid":"https://orcid.org/0009-0000-6537-8926"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiting Chen","raw_affiliation_strings":["School of Power and Mechanical-PLXSPACE-Engineering, Wuhan University, Wuhan, Hubei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Power and Mechanical-PLXSPACE-Engineering, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101548597","display_name":"Zhipeng Dong","orcid":"https://orcid.org/0000-0002-4056-4172"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhipeng Dong","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0002-4056-4172","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001896666","display_name":"Shixiong Wang","orcid":"https://orcid.org/0000-0002-4272-1864"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shixiong Wang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"institutions":[{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["Idiap Research Institute, Martigny, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-9036-6799","affiliations":[{"raw_affiliation_string":"Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100339704","display_name":"Miao Li","orcid":"https://orcid.org/0000-0002-2244-2104"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miao Li","raw_affiliation_strings":["Institute of Technological Sciences, Wuhan University, Wuhan, Hubei, China"],"raw_orcid":"https://orcid.org/0000-0002-2244-2104","affiliations":[{"raw_affiliation_string":"Institute of Technological Sciences, Wuhan University, Wuhan, Hubei, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100405442","display_name":"Fei Chen","orcid":"https://orcid.org/0000-0003-4397-0931"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fei Chen","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0003-4397-0931","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.8696,"has_fulltext":false,"cited_by_count":80,"citation_normalized_percentile":{"value":0.98058613,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"5159","last_page":"5166"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9991000294685364,"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/prehensile-tail","display_name":"Prehensile tail","score":0.9889030456542969},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5221669673919678},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4671247601509094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39361080527305603},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.3670065999031067},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3486161231994629},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.19511225819587708},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.16416439414024353}],"concepts":[{"id":"https://openalex.org/C136380597","wikidata":"https://www.wikidata.org/wiki/Q10508905","display_name":"Prehensile tail","level":2,"score":0.9889030456542969},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5221669673919678},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4671247601509094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39361080527305603},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.3670065999031067},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3486161231994629},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.19511225819587708},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.16416439414024353}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3153728","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3153728","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:2205.05960","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.05960","pdf_url":"https://arxiv.org/pdf/2205.05960","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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:2205.05960","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.05960","pdf_url":"https://arxiv.org/pdf/2205.05960","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W83066797","https://openalex.org/W1986014385","https://openalex.org/W2100993276","https://openalex.org/W2136719407","https://openalex.org/W2145339207","https://openalex.org/W2166302491","https://openalex.org/W2722424650","https://openalex.org/W2767050701","https://openalex.org/W2793097035","https://openalex.org/W2899575514","https://openalex.org/W2907492528","https://openalex.org/W2952649152","https://openalex.org/W2962769676","https://openalex.org/W2963353290","https://openalex.org/W2965133842","https://openalex.org/W2998702685","https://openalex.org/W3045086295","https://openalex.org/W3101442004","https://openalex.org/W3104787446","https://openalex.org/W3145819685","https://openalex.org/W6680971464","https://openalex.org/W6684921986","https://openalex.org/W6729362729","https://openalex.org/W6739901393","https://openalex.org/W6767098714","https://openalex.org/W6784078366"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2465876097","https://openalex.org/W2028231052","https://openalex.org/W2768832826","https://openalex.org/W3166169123","https://openalex.org/W2010045274","https://openalex.org/W2552641899","https://openalex.org/W2105329304","https://openalex.org/W2148088326"],"abstract_inverted_index":{"This":[0],"letter":[1],"describes":[2],"an":[3],"approach":[4],"to":[5,30,38,116,139,179,181],"achieve":[6,140],"well-known":[7],"Chinese":[8],"cooking":[9],"art":[10],"stir-fry":[11,47,143,173],"on":[12,155],"a":[13,19,33,45,52,95,106,150,156],"bimanual":[14,90,101,158,171,186],"robot":[15,68,160,172],"system.":[16,161],"Stir-fry":[17],"requires":[18],"sequence":[20],"of":[21,66,129],"highly":[22],"dynamic":[23],"coordinated":[24],"movements,":[25],"which":[26],"is":[27,92],"usually":[28],"difficult":[29],"learn":[31],"for":[32,55],"chef,":[34],"let":[35],"alone":[36],"transfer":[37],"robots.":[39],"In":[40],"this":[41,57],"letter,":[42],"we":[43,103],"define":[44],"canonical":[46],"movement,":[48],"and":[49,76,78,82,108,152,175],"then":[50,88],"propose":[51,105],"decoupled":[53,70],"framework":[54,133,148,167],"learning":[56],"deformable":[58,183],"object":[59],"manipulation":[60],"from":[61],"human":[62],"demonstration.":[63],"First,":[64],"dualarms":[65],"the":[67,89,118,136,141,147,170,177],"are":[69],"into":[71,94],"different":[72],"roles":[73],"(a":[74],"leader":[75],"follower)":[77],"learned":[79],"with":[80,185],"classical":[81],"neural":[83],"network":[84],"based":[85,110],"methods":[86],"separately,":[87],"task":[91],"transformed":[93],"coordination":[96],"problem.":[97],"To":[98],"obtain":[99],"general":[100],"coordination,":[102],"secondly":[104],"Graph":[107],"Transformer":[109],"model\u2014":[111],"<italic":[112],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[113],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Structured-Transformer</i>":[114],",":[115],"capture":[117],"spatio-temporal":[119],"relationship":[120],"between":[121],"dual-arm":[122],"movements.":[123],"Finally,":[124],"by":[125,149],"adding":[126],"visual":[127],"feedback":[128],"contents":[130],"deformation,":[131],"our":[132,166],"can":[134,168],"adjust":[135],"movements":[137],"automatically":[138],"desired":[142],"effect.":[144],"We":[145],"verify":[146],"simulator":[151],"deploy":[153],"it":[154],"real":[157],"Panda":[159],"The":[162],"experimental":[163],"results":[164],"validate":[165],"realize":[169],"motion":[174],"have":[176],"potential":[178],"extend":[180],"other":[182],"objects":[184],"coordination.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":30},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":4}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2022-02-25T00:00:00"}
