{"id":"https://openalex.org/W4391097222","doi":"https://doi.org/10.1109/lra.2024.3357039","title":"Differentiable Cloth Parameter Identification and State Estimation in Manipulation","display_name":"Differentiable Cloth Parameter Identification and State Estimation in Manipulation","publication_year":2024,"publication_date":"2024-01-22","ids":{"openalex":"https://openalex.org/W4391097222","doi":"https://doi.org/10.1109/lra.2024.3357039"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3357039","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3357039","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/A5102019192","display_name":"Dongzhe Zheng","orcid":"https://orcid.org/0009-0007-4105-0628"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dongzhe Zheng","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0007-4105-0628","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028392086","display_name":"Siqiong Yao","orcid":"https://orcid.org/0000-0001-6968-1586"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siqiong Yao","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-6968-1586","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100407910","display_name":"Wenqiang Xu","orcid":"https://orcid.org/0000-0002-8648-5576"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenqiang Xu","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-8648-5576","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101470275","display_name":"Cewu Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cewu Lu","raw_affiliation_strings":["Qing Yuan Research Institute and MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-1533-8576","affiliations":[{"raw_affiliation_string":"Qing Yuan Research Institute and MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102019192"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.8616,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.84274741,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"9","issue":"3","first_page":"2519","last_page":"2526"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9958999752998352,"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":0.9958999752998352,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9930999875068665,"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/differentiable-function","display_name":"Differentiable function","score":0.7558532953262329},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5834054946899414},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5105963349342346},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5077000856399536},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5073029398918152},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4615177810192108},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4439636468887329},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.42744341492652893},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3683018684387207},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3287196755409241},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21600830554962158},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.13527774810791016},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1311163604259491}],"concepts":[{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.7558532953262329},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5834054946899414},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5105963349342346},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5077000856399536},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5073029398918152},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4615177810192108},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4439636468887329},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.42744341492652893},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3683018684387207},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3287196755409241},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21600830554962158},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.13527774810791016},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1311163604259491},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3357039","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3357039","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":[{"score":0.7900000214576721,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W244209763","https://openalex.org/W1604341262","https://openalex.org/W2469863283","https://openalex.org/W2530616813","https://openalex.org/W2563506672","https://openalex.org/W2583589241","https://openalex.org/W2604272735","https://openalex.org/W2737762407","https://openalex.org/W2739405427","https://openalex.org/W2886416285","https://openalex.org/W2902791462","https://openalex.org/W2920928264","https://openalex.org/W2988986133","https://openalex.org/W3005637401","https://openalex.org/W3168575721","https://openalex.org/W3209422208","https://openalex.org/W4229927528","https://openalex.org/W4311802566","https://openalex.org/W4312610897","https://openalex.org/W4323525793","https://openalex.org/W4383108718","https://openalex.org/W4383109001","https://openalex.org/W4386076296","https://openalex.org/W4387884367","https://openalex.org/W4390872446","https://openalex.org/W6675059655","https://openalex.org/W6747473740","https://openalex.org/W6767077755","https://openalex.org/W6769017845","https://openalex.org/W6790411549","https://openalex.org/W6847002138","https://openalex.org/W6858026343"],"related_works":["https://openalex.org/W4285277090","https://openalex.org/W4327738859","https://openalex.org/W2348722996","https://openalex.org/W2334570605","https://openalex.org/W3181683615","https://openalex.org/W4286826125","https://openalex.org/W1633485514","https://openalex.org/W1604739066","https://openalex.org/W2115878407","https://openalex.org/W1980454230"],"abstract_inverted_index":{"In":[0],"the":[1,9,18,56,66,91,126,133],"realm":[2],"of":[3,30,69],"robotic":[4,102],"cloth":[5,10,49,70,112,164,174],"manipulation,":[6],"accurately":[7],"estimating":[8],"state":[11],"during":[12,60],"or":[13,44],"post-execution":[14],"is":[15],"imperative.":[16],"However,":[17],"inherent":[19],"complexities":[20],"in":[21,76],"a":[22,85,106,123],"cloth's":[23,57],"dynamic":[24],"behavior":[25],"and":[26,101,118,138,146,157,170],"its":[27,160],"near-infinite":[28],"degrees":[29],"freedom":[31],"(DoF)":[32],"pose":[33,175],"significant":[34],"challenges.":[35],"Traditional":[36],"methods":[37],"have":[38],"been":[39,74],"restricted":[40],"to":[41,148,163],"using":[42],"keypoints":[43],"boundaries":[45],"as":[46],"cues":[47],"for":[48,98],"state,":[50],"which":[51],"do":[52],"not":[53],"holistically":[54],"capture":[55],"structure,":[58],"especially":[59],"intricate":[61],"tasks":[62],"like":[63],"folding.":[64],"Additionally,":[65,159],"critical":[67],"influence":[68],"physics":[71,129,150],"has":[72],"often":[73],"overlooked":[75],"past":[77],"research.":[78],"Addressing":[79],"these":[80],"concerns,":[81],"we":[82],"introduce":[83],"DiffCP,":[84],"novel":[86],"differentiable":[87,99,124],"pipeline":[88],"that":[89],"leverages":[90],"Anisotropic":[92],"Elasto-Plastic":[93],"(A-EP)":[94],"constitutive":[95],"model,":[96],"tailored":[97],"computation":[100],"tasks.":[103],"DiffCP":[104],"adopts":[105],"\u201creal-to-sim-to-real\u201d":[107],"methodology.":[108],"By":[109],"observing":[110],"real-world":[111],"states":[113],"through":[114],"an":[115],"RGB-D":[116],"camera":[117],"projecting":[119],"this":[120],"data":[121],"into":[122],"simulator,":[125],"system":[127],"identifies":[128],"parameters":[130,151],"by":[131],"minimizing":[132],"geometric":[134],"variance":[135],"between":[136],"observed":[137],"target":[139],"states.":[140],"Extensive":[141],"experiments":[142],"demonstrate":[143],"DiffCP's":[144],"ability":[145],"stability":[147],"determine":[149],"under":[152],"varying":[153],"manipulations,":[154],"grasping":[155],"points,":[156],"speeds.":[158],"applications":[161],"extend":[162],"material":[165],"identification,":[166],"manipulation":[167],"trajectory":[168],"generation,":[169],"more":[171],"notably,":[172],"enhancing":[173],"estimation":[176],"accuracy.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
