{"id":"https://openalex.org/W4386523657","doi":"https://doi.org/10.1109/lra.2023.3313063","title":"Part-Guided 3D RL for Sim2Real Articulated Object Manipulation","display_name":"Part-Guided 3D RL for Sim2Real Articulated Object Manipulation","publication_year":2023,"publication_date":"2023-09-07","ids":{"openalex":"https://openalex.org/W4386523657","doi":"https://doi.org/10.1109/lra.2023.3313063"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3313063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313063","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/A5022548788","display_name":"Pengwei Xie","orcid":"https://orcid.org/0000-0003-1005-9252"},"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":"Pengwei Xie","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1005-9252","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100403640","display_name":"Rui Chen","orcid":"https://orcid.org/0000-0002-4041-4131"},"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":"Rui Chen","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4041-4131","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062232744","display_name":"Siang Chen","orcid":"https://orcid.org/0000-0002-9235-6439"},"institutions":[{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]},{"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":"Siang Chen","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China","Shanghai AI Laboratory, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-9235-6439","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Shanghai AI Laboratory, Shanghai, China","institution_ids":["https://openalex.org/I4391012619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060146466","display_name":"Yuzhe Qin","orcid":"https://orcid.org/0000-0002-9321-9305"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuzhe Qin","raw_affiliation_strings":["Department of Computer Science, University of California San Diego, San Diego, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9321-9305","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of California San Diego, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008903324","display_name":"Fanbo Xiang","orcid":"https://orcid.org/0009-0005-5335-873X"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fanbo Xiang","raw_affiliation_strings":["Department of Computer Science, University of California San Diego, San Diego, CA, USA"],"raw_orcid":"https://orcid.org/0009-0005-5335-873X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of California San Diego, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025644552","display_name":"Tianyu Sun","orcid":"https://orcid.org/0009-0001-3918-2329"},"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":"Tianyu Sun","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-3918-2329","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113329878","display_name":"Jing Xu","orcid":null},"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":"Jing Xu","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4417-1293","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045183950","display_name":"Guijin Wang","orcid":"https://orcid.org/0000-0002-2131-3044"},"institutions":[{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]},{"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":"Guijin Wang","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China","Shanghai AI Laboratory, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-2131-3044","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Shanghai AI Laboratory, Shanghai, China","institution_ids":["https://openalex.org/I4391012619"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056245495","display_name":"Hao Su","orcid":"https://orcid.org/0000-0002-1796-2682"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Su","raw_affiliation_strings":["Department of Computer Science, University of California San Diego, San Diego, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1796-2682","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of California San Diego, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1583,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.7579922,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"8","issue":"11","first_page":"7178","last_page":"7185"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9926000237464905,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.8041437864303589},{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.6686700582504272},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6572245955467224},{"id":"https://openalex.org/keywords/generalizability-theory","display_name":"Generalizability theory","score":0.6197315454483032},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6107763648033142},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5835315585136414},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.567577600479126},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5422646999359131},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5265030264854431},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5203728079795837},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.44213777780532837},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.4356689155101776},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.42193931341171265},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4178485572338104},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.360848605632782},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3365808129310608},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33281782269477844},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08437547087669373}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8041437864303589},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.6686700582504272},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6572245955467224},{"id":"https://openalex.org/C27158222","wikidata":"https://www.wikidata.org/wiki/Q5532422","display_name":"Generalizability theory","level":2,"score":0.6197315454483032},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6107763648033142},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5835315585136414},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.567577600479126},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5422646999359131},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5265030264854431},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5203728079795837},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.44213777780532837},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.4356689155101776},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42193931341171265},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4178485572338104},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.360848605632782},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3365808129310608},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33281782269477844},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08437547087669373},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3313063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313063","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W1923184257","https://openalex.org/W2168359464","https://openalex.org/W2560609797","https://openalex.org/W2600383743","https://openalex.org/W2605102758","https://openalex.org/W2780351918","https://openalex.org/W2781726626","https://openalex.org/W2887976372","https://openalex.org/W2963163009","https://openalex.org/W2982448633","https://openalex.org/W2988715931","https://openalex.org/W3006398608","https://openalex.org/W3035198432","https://openalex.org/W3035624836","https://openalex.org/W3088321106","https://openalex.org/W3120441392","https://openalex.org/W3173701235","https://openalex.org/W3199614037","https://openalex.org/W4221160484","https://openalex.org/W4221167441","https://openalex.org/W4226167593","https://openalex.org/W4283785166","https://openalex.org/W4287811291","https://openalex.org/W4288267481","https://openalex.org/W4302010007","https://openalex.org/W4303648978","https://openalex.org/W4306704803","https://openalex.org/W4309395337","https://openalex.org/W4312288659","https://openalex.org/W4312363187","https://openalex.org/W4313160783","https://openalex.org/W4319999962","https://openalex.org/W4321594062","https://openalex.org/W4383108731","https://openalex.org/W4386065846","https://openalex.org/W6639824700","https://openalex.org/W6735443497","https://openalex.org/W6747473740","https://openalex.org/W6763422710","https://openalex.org/W6766433728","https://openalex.org/W6769823609","https://openalex.org/W6787713516","https://openalex.org/W6796568516","https://openalex.org/W6809850638","https://openalex.org/W6810123038","https://openalex.org/W6810655313","https://openalex.org/W6845226490","https://openalex.org/W6845793730","https://openalex.org/W6846207995","https://openalex.org/W6847110631","https://openalex.org/W6851289017"],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W1791514435","https://openalex.org/W2118717649","https://openalex.org/W410723623","https://openalex.org/W2413243053","https://openalex.org/W2346831895","https://openalex.org/W2248634132","https://openalex.org/W2015341305","https://openalex.org/W4225593417","https://openalex.org/W2035068594"],"abstract_inverted_index":{"Manipulating":[0],"unseen":[1],"articulated":[2,59,119],"objects":[3,60],"through":[4],"visual":[5,22,28],"feedback":[6],"is":[7],"a":[8,48,93,101,109],"critical":[9],"but":[10],"challenging":[11],"task":[12],"for":[13,37],"real":[14,89],"robots.":[15],"Existing":[16],"learning-based":[17],"solutions":[18],"mainly":[19],"focus":[20],"on":[21,88,117],"affordance":[23],"learning":[24],"or":[25],"other":[26],"pre-trained":[27],"models":[29],"to":[30,57,73,99,130],"guide":[31],"manipulation":[32,121],"policies,":[33],"which":[34,54],"face":[35],"challenges":[36],"novel":[38,49,131],"instances":[39],"in":[40,124,143],"real-world":[41,147],"scenarios.":[42],"In":[43,107],"this":[44],"letter,":[45],"we":[46,91],"propose":[47],"part-guided":[50],"3D":[51,71,105],"RL":[52,72,78,112],"framework,":[53],"can":[55,114],"learn":[56],"manipulate":[58],"without":[61],"demonstrations.":[62],"We":[63],"combine":[64],"the":[65,75,83,86,138],"strengths":[66],"of":[67,77,85,140],"2D":[68],"segmentation":[69],"and":[70,103,126,133,146],"improve":[74,82],"efficiency":[76],"policy":[79,87,113],"training.":[80],"To":[81],"stability":[84],"robots,":[90],"design":[92],"Frame-consistent":[94],"Uncertainty-aware":[95],"Sampling":[96],"(FUS)":[97],"strategy":[98],"get":[100],"condensed":[102],"hierarchical":[104],"representation.":[106],"addition,":[108],"single":[110],"versatile":[111],"be":[115],"trained":[116],"multiple":[118],"object":[120],"tasks":[122],"simultaneously":[123],"simulation":[125,145],"shows":[127],"great":[128],"generalizability":[129],"categories":[132],"instances.":[134],"Experimental":[135],"results":[136],"demonstrate":[137],"effectiveness":[139],"our":[141],"framework":[142],"both":[144],"settings.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
