{"id":"https://openalex.org/W4362653108","doi":"https://doi.org/10.1109/lra.2023.3264764","title":"Learning Graph Dynamics With External Contact for Deformable Linear Objects Shape Control","display_name":"Learning Graph Dynamics With External Contact for Deformable Linear Objects Shape Control","publication_year":2023,"publication_date":"2023-04-05","ids":{"openalex":"https://openalex.org/W4362653108","doi":"https://doi.org/10.1109/lra.2023.3264764"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3264764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3264764","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":["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/A5031459796","display_name":"Yichen Huang","orcid":"https://orcid.org/0000-0002-8618-5856"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yichen Huang","raw_affiliation_strings":["Center for Intelligent Control and Telescience, Tsinghua University, Shenzhen International Graduate School, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-8618-5856","affiliations":[{"raw_affiliation_string":"Center for Intelligent Control and Telescience, Tsinghua University, Shenzhen International Graduate School, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014423743","display_name":"Chongkun Xia","orcid":"https://orcid.org/0000-0001-5396-7643"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chongkun Xia","raw_affiliation_strings":["Center for Intelligent Control and Telescience, Tsinghua University, Shenzhen International Graduate School, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-5396-7643","affiliations":[{"raw_affiliation_string":"Center for Intelligent Control and Telescience, Tsinghua University, Shenzhen International Graduate School, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100737125","display_name":"Xueqian Wang","orcid":"https://orcid.org/0000-0003-3542-0593"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueqian Wang","raw_affiliation_strings":["Center for Intelligent Control and Telescience, Tsinghua University, Shenzhen International Graduate School, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-3542-0593","affiliations":[{"raw_affiliation_string":"Center for Intelligent Control and Telescience, Tsinghua University, Shenzhen International Graduate School, Shenzhen, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100644630","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0002-8591-8843"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Navigation and Control Research Center, Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8591-8843","affiliations":[{"raw_affiliation_string":"Navigation and Control Research Center, Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2008,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.87374876,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"8","issue":"6","first_page":"3892","last_page":"3899"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9927999973297119,"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":0.9921000003814697,"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/computer-science","display_name":"Computer science","score":0.5706470608711243},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5093539953231812},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5014257431030273},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.46807536482810974},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45391422510147095},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4534488022327423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45029163360595703},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4102894067764282},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.17438435554504395},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.09884586930274963},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0636650025844574}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5706470608711243},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5093539953231812},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5014257431030273},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.46807536482810974},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45391422510147095},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4534488022327423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45029163360595703},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4102894067764282},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.17438435554504395},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.09884586930274963},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0636650025844574},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3264764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3264764","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2265996673","display_name":null,"funder_award_id":"U1813216","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7876729112","display_name":null,"funder_award_id":"62203260","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7977462062","display_name":null,"funder_award_id":"2022M711823","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1972746767","https://openalex.org/W2805530149","https://openalex.org/W2962871243","https://openalex.org/W2963953778","https://openalex.org/W2966271811","https://openalex.org/W2967246123","https://openalex.org/W2976122401","https://openalex.org/W3035880432","https://openalex.org/W3159812989","https://openalex.org/W3164946289","https://openalex.org/W3192021195","https://openalex.org/W3206509851","https://openalex.org/W4214659156","https://openalex.org/W4221070022","https://openalex.org/W4225473247","https://openalex.org/W4285102216","https://openalex.org/W4285506896","https://openalex.org/W4312821271","https://openalex.org/W4383108952","https://openalex.org/W6631190155","https://openalex.org/W6726873649","https://openalex.org/W6774733536","https://openalex.org/W6785459237"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999","https://openalex.org/W4321093571"],"abstract_inverted_index":{"This":[0],"letter":[1],"focuses":[2],"on":[3,49,75,124,196],"the":[4,26,44,116,128,132,141,150,155,164,168,180,193],"shape":[5,23,41,56,64,152,160,170,194],"control":[6,24,28,39,57,62,171,195],"manipulation":[7],"of":[8,21,46,84,199],"deformable":[9,98],"linear":[10,99],"objects":[11,122],"(DLO)":[12],"with":[13,94,173],"a":[14,53,66,85,110,188],"dual-arm":[15],"robotic":[16,34,190],"system.":[17],"One":[18],"significant":[19],"challenge":[20],"DLO":[22,55,76,119,147,159,169],"is":[25,136],"underactuated":[27],"system,":[29],"which":[30,70],"means":[31],"that":[32],"finite":[33],"manipulators":[35],"can":[36,145,183],"not":[37],"fully":[38],"DLO's":[40,63],"due":[42],"to":[43,60,114,138,149,187],"lack":[45],"sufficient":[47],"constraints":[48,74],"DLO.":[50,200],"We":[51],"propose":[52],"novel":[54],"framework":[58,82,166,182],"aiming":[59],"stably":[61],"in":[65,176],"wide":[67],"deformation":[68],"range,":[69],"innovatively":[71],"provides":[72],"additional":[73],"via":[77],"external":[78,174],"contact.":[79],"The":[80,107],"proposed":[81,165,181],"consists":[83],"learning":[86],"module":[87],"named":[88],"<italic":[89],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[90],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Learning":[91],"Graph":[92],"Dynamics":[93],"External":[95],"Contact":[96],"for":[97,158,192],"objects</i>":[100],"(LG-DEC)":[101],"and":[102,120,153],"an":[103],"action":[104,129,157],"generation":[105,130],"module.":[106],"LG-DEC":[108],"uses":[109],"graph":[111,134],"convolution":[112],"network":[113],"approximate":[115],"dynamics":[117,135],"between":[118],"contactable":[121],"based":[123],"keypoint-based":[125],"representation.":[126],"In":[127,162],"module,":[131],"learned":[133],"used":[137],"predict":[139],"whether":[140],"randomly":[142],"sampled":[143],"actions":[144],"drive":[146],"closer":[148],"desired":[151],"output":[154],"best":[156],"control.":[161],"simulation,":[163],"accomplishes":[167],"task":[172],"contact":[175],"six":[177],"scenarios.":[178],"Furthermore,":[179],"be":[184],"well":[185],"applied":[186],"physical":[189],"system":[191],"different":[197],"types":[198]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":9}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
