{"id":"https://openalex.org/W4393213721","doi":"https://doi.org/10.1109/lra.2024.3387145","title":"DBPF: A Framework for Efficient and Robust Dynamic Bin-Picking","display_name":"DBPF: A Framework for Efficient and Robust Dynamic Bin-Picking","publication_year":2024,"publication_date":"2024-04-10","ids":{"openalex":"https://openalex.org/W4393213721","doi":"https://doi.org/10.1109/lra.2024.3387145"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3387145","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3387145","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":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2403.16786","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101587408","display_name":"Yichuan Li","orcid":"https://orcid.org/0000-0001-8473-5378"},"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"]},{"id":"https://openalex.org/I4210131801","display_name":"Hong Kong R&D Centre for Logistics and Supply Chain Management Enabling Technologies","ror":"https://ror.org/03nm59d75","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210131801"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Yichuan Li","raw_affiliation_strings":["Hong Kong Centre for Logistics Robotics (HKCLR), Hong Kong","T Stone Robotics Institute, the Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-8473-5378","affiliations":[{"raw_affiliation_string":"Hong Kong Centre for Logistics Robotics (HKCLR), Hong Kong","institution_ids":["https://openalex.org/I4210131801"]},{"raw_affiliation_string":"T Stone Robotics Institute, the Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102714258","display_name":"J. Zhao","orcid":"https://orcid.org/0009-0001-1501-323X"},"institutions":[{"id":"https://openalex.org/I4210131801","display_name":"Hong Kong R&D Centre for Logistics and Supply Chain Management Enabling Technologies","ror":"https://ror.org/03nm59d75","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210131801"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junkai Zhao","raw_affiliation_strings":["Hong Kong Centre for Logistics Robotics (HKCLR), Hong Kong"],"raw_orcid":"https://orcid.org/0009-0001-1501-323X","affiliations":[{"raw_affiliation_string":"Hong Kong Centre for Logistics Robotics (HKCLR), Hong Kong","institution_ids":["https://openalex.org/I4210131801"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072830366","display_name":"Y. Li","orcid":"https://orcid.org/0000-0001-8142-6350"},"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"]},{"id":"https://openalex.org/I4210131801","display_name":"Hong Kong R&D Centre for Logistics and Supply Chain Management Enabling Technologies","ror":"https://ror.org/03nm59d75","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210131801"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Yixiao Li","raw_affiliation_strings":["Hong Kong Centre for Logistics Robotics (HKCLR), Hong Kong","T Stone Robotics Institute, the Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-8142-6350","affiliations":[{"raw_affiliation_string":"Hong Kong Centre for Logistics Robotics (HKCLR), Hong Kong","institution_ids":["https://openalex.org/I4210131801"]},{"raw_affiliation_string":"T Stone Robotics Institute, the Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101965827","display_name":"Zheng Wu","orcid":"https://orcid.org/0000-0003-3248-4153"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zheng Wu","raw_affiliation_strings":["Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3248-4153","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101558896","display_name":"Rui Cao","orcid":"https://orcid.org/0000-0001-5657-7325"},"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":"Rui Cao","raw_affiliation_strings":["T Stone Robotics Institute, the Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-5657-7325","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, the Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0206-6639","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"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":"Yun-Hui Liu","raw_affiliation_strings":["T Stone Robotics Institute, the Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-3625-6679","affiliations":[{"raw_affiliation_string":"T Stone Robotics Institute, the Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9322,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.69054434,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"9","issue":"6","first_page":"5166","last_page":"5173"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9801999926567078,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9801999926567078,"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/T12176","display_name":"Optimization and Packing Problems","score":0.9610000252723694,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9574000239372253,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/bin","display_name":"Bin","score":0.752609133720398},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5107533931732178},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.33484047651290894},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23092347383499146}],"concepts":[{"id":"https://openalex.org/C156273044","wikidata":"https://www.wikidata.org/wiki/Q4913766","display_name":"Bin","level":2,"score":0.752609133720398},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5107533931732178},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.33484047651290894},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23092347383499146}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3387145","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3387145","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"},{"id":"pmh:oai:arXiv.org:2403.16786","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.16786","pdf_url":"https://arxiv.org/pdf/2403.16786","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:2403.16786","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.16786","pdf_url":"https://arxiv.org/pdf/2403.16786","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":[{"display_name":"Decent work and economic growth","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4393213721.pdf","grobid_xml":"https://content.openalex.org/works/W4393213721.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W636927631","https://openalex.org/W1994349244","https://openalex.org/W2014724424","https://openalex.org/W2036637075","https://openalex.org/W2076363786","https://openalex.org/W2077416582","https://openalex.org/W2105934661","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2294389641","https://openalex.org/W2565538716","https://openalex.org/W2584986912","https://openalex.org/W2910474428","https://openalex.org/W2962736495","https://openalex.org/W2966615203","https://openalex.org/W3003215308","https://openalex.org/W3004356397","https://openalex.org/W3040086528","https://openalex.org/W3090993660","https://openalex.org/W3143558489","https://openalex.org/W3160889789","https://openalex.org/W3174299515","https://openalex.org/W3202948970","https://openalex.org/W3203752009","https://openalex.org/W4205483505","https://openalex.org/W4210922806","https://openalex.org/W4310296681","https://openalex.org/W4312987326","https://openalex.org/W4382366145","https://openalex.org/W4383108415","https://openalex.org/W4383503796","https://openalex.org/W6801436214"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2107701374","https://openalex.org/W2950072893","https://openalex.org/W1616588898","https://openalex.org/W4249504934","https://openalex.org/W2183416055","https://openalex.org/W2568867011","https://openalex.org/W1994114538","https://openalex.org/W2413205705","https://openalex.org/W2735644334"],"abstract_inverted_index":{"Efficiency":[0],"and":[1,24,33,99,108,162],"reliability":[2],"are":[3],"critical":[4],"in":[5,148],"robotic":[6,164],"bin-picking":[7,165],"as":[8,68],"they":[9],"directly":[10],"impact":[11],"the":[12,52,55,69,77,83,100,104,113,127,130],"productivity":[13],"of":[14,115,129],"automated":[15],"industrial":[16],"processes.":[17],"However,":[18],"traditional":[19,46],"approaches,":[20],"demanding":[21],"static":[22,47],"objects":[23,62],"fixed":[25],"collisions,":[26],"lead":[27],"to":[28,57],"deployment":[29],"limitations,":[30],"operational":[31],"inefficiencies,":[32],"process":[34],"unreliability.":[35],"This":[36],"paper":[37],"introduces":[38],"a":[39,157],"Dynamic":[40],"Bin-Picking":[41],"Framework":[42],"(DBPF)":[43],"that":[44,153],"challenges":[45],"assumptions.":[48],"The":[49],"DBPF":[50],"endows":[51],"robot":[53],"with":[54,73,135],"reactivity":[56],"pick":[58],"multiple":[59],"moving":[60,70],"arbitrary":[61],"while":[63],"avoiding":[64],"dynamic":[65,96,142,149],"obstacles,":[66],"such":[67],"bin.":[71],"Combined":[72],"scene-level":[74],"pose":[75,79,89],"generation,":[76],"proposed":[78],"selection":[80],"metric":[81],"leverages":[82],"Tendency-Aware":[84],"Manipulability":[85],"Network":[86],"optimizing":[87],"suction":[88],"determination.":[90],"Heuristic":[91],"task-specific":[92],"designs":[93],"like":[94],"velocity-matching,":[95],"obstacle":[97],"avoidance,":[98],"resight":[101],"policy,":[102],"enhance":[103],"picking":[105],"success":[106,124],"rate":[107],"reliability.":[109],"Empirical":[110],"experiments":[111],"demonstrate":[112],"importance":[114],"these":[116],"components.":[117],"Our":[118],"method":[119],"achieves":[120],"an":[121],"average":[122],"84%":[123],"rate,":[125],"surpassing":[126],"60%":[128],"most":[131],"comparable":[132],"baseline,":[133],"crucially,":[134],"zero":[136],"collisions.":[137],"Further":[138],"evaluations":[139],"under":[140,166],"diverse":[141],"scenarios":[143],"showcase":[144],"DBPF's":[145],"robust":[146],"performance":[147],"bin-picking.":[150],"Results":[151],"suggest":[152],"our":[154],"framework":[155],"offers":[156],"promising":[158],"solution":[159],"for":[160],"efficient":[161],"reliable":[163],"dynamics.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
