{"id":"https://openalex.org/W4408468135","doi":"https://doi.org/10.1109/lra.2025.3551637","title":"FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation Under Uncertainty","display_name":"FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation Under Uncertainty","publication_year":2025,"publication_date":"2025-03-14","ids":{"openalex":"https://openalex.org/W4408468135","doi":"https://doi.org/10.1109/lra.2025.3551637"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3551637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3551637","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/A5103173833","display_name":"Michael Noseworthy","orcid":"https://orcid.org/0009-0004-6565-2883"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Noseworthy","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0009-0004-6565-2883","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014883371","display_name":"Bingjie Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bingjie Tang","raw_affiliation_strings":["University of Southern California, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6307-0389","affiliations":[{"raw_affiliation_string":"University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003458289","display_name":"Bowen Wen","orcid":"https://orcid.org/0000-0002-9207-6103"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bowen Wen","raw_affiliation_strings":["NVIDIA, Santa Clara, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9207-6103","affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055942061","display_name":"Ankur Handa","orcid":"https://orcid.org/0000-0001-5170-1323"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ankur Handa","raw_affiliation_strings":["NVIDIA, Santa Clara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048026511","display_name":"Chad C. Kessens","orcid":"https://orcid.org/0000-0001-6366-0880"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chad Kessens","raw_affiliation_strings":["DEVCOM Army Research Laborator, Adelphi, MD, USA","DEVCOM Army Research Laboratory, USA"],"raw_orcid":"https://orcid.org/0000-0001-6366-0880","affiliations":[{"raw_affiliation_string":"DEVCOM Army Research Laborator, Adelphi, MD, USA","institution_ids":["https://openalex.org/I166416128"]},{"raw_affiliation_string":"DEVCOM Army Research Laboratory, USA","institution_ids":["https://openalex.org/I166416128","https://openalex.org/I2802705668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010817303","display_name":"Nicholas Roy","orcid":"https://orcid.org/0000-0002-8293-0492"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Roy","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8293-0492","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108257764","display_name":"Dieter Fox","orcid":"https://orcid.org/0009-0009-4694-9127"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dieter Fox","raw_affiliation_strings":["NVIDIA, Santa Clara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062619542","display_name":"F\u00e1bio Ramos","orcid":"https://orcid.org/0000-0002-2996-2188"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fabio Ramos","raw_affiliation_strings":["NVIDIA, Santa Clara, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2996-2188","affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043295239","display_name":"Yashraj Narang","orcid":"https://orcid.org/0000-0001-5445-3759"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yashraj Narang","raw_affiliation_strings":["NVIDIA, Santa Clara, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5445-3759","affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056689854","display_name":"Iretiayo Akinola","orcid":"https://orcid.org/0000-0001-8398-8138"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Iretiayo Akinola","raw_affiliation_strings":["NVIDIA, Santa Clara, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8398-8138","affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.0086,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.96915821,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"5","first_page":"4436","last_page":"4443"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9868000149726868,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9829000234603882,"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/forge","display_name":"Forge","score":0.614587128162384},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4202296733856201},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3764299154281616},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29320740699768066},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.22622177004814148}],"concepts":[{"id":"https://openalex.org/C2778157309","wikidata":"https://www.wikidata.org/wiki/Q40558","display_name":"Forge","level":3,"score":0.614587128162384},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4202296733856201},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3764299154281616},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29320740699768066},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.22622177004814148},{"id":"https://openalex.org/C96494537","wikidata":"https://www.wikidata.org/wiki/Q193057","display_name":"Forging","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3551637","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3551637","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":39,"referenced_works":["https://openalex.org/W1938885652","https://openalex.org/W2012831112","https://openalex.org/W2034469604","https://openalex.org/W2115617434","https://openalex.org/W2168359464","https://openalex.org/W2201912979","https://openalex.org/W2767050701","https://openalex.org/W2793264449","https://openalex.org/W2808777429","https://openalex.org/W2892211305","https://openalex.org/W2911087563","https://openalex.org/W2951360122","https://openalex.org/W2963184939","https://openalex.org/W2964198579","https://openalex.org/W3003629310","https://openalex.org/W3081200565","https://openalex.org/W3130466728","https://openalex.org/W3130984490","https://openalex.org/W3133805463","https://openalex.org/W3186869035","https://openalex.org/W3194048684","https://openalex.org/W3195288600","https://openalex.org/W3207601508","https://openalex.org/W3213154664","https://openalex.org/W4200173225","https://openalex.org/W4221167977","https://openalex.org/W4231367092","https://openalex.org/W4283788634","https://openalex.org/W4285506274","https://openalex.org/W4383108265","https://openalex.org/W4385430467","https://openalex.org/W4401417154","https://openalex.org/W6633484739","https://openalex.org/W6752338937","https://openalex.org/W6800004206","https://openalex.org/W6810433287","https://openalex.org/W6848071696","https://openalex.org/W6857244198","https://openalex.org/W6866936129"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W3082260990","https://openalex.org/W4235390493","https://openalex.org/W3082257153","https://openalex.org/W2620273008","https://openalex.org/W3200085936","https://openalex.org/W4318813981","https://openalex.org/W3047811247"],"abstract_inverted_index":{"We":[0,83,105],"present":[1],"FORGE,":[2],"a":[3,48,92,112],"method":[4],"for":[5],"sim-to-real":[6],"transfer":[7,33],"of":[8,15,34,63,79,94,102,111],"force-aware":[9],"manipulation":[10],"policies":[11,37,69],"in":[12],"the":[13,35,39,64,80,99,108],"presence":[14],"significant":[16],"pose":[17],"uncertainty.":[18],"During":[19],"simulation-based":[20],"policy":[21],"learning,":[22],"FORGE":[23,44,68,86],"combines":[24],"aforce":[25],"thresholdmechanism":[26],"with":[27],"adynamics":[28],"randomizationscheme":[29],"to":[30,38,90],"enable":[31],"robust":[32,95],"learned":[36],"real":[40],"robot.":[41],"At":[42],"deployment,":[43],"policies,":[45,97],"conditioned":[46],"on":[47],"maximum":[49],"allowable":[50],"force,":[51],"adaptively":[52],"perform":[53],"contact-rich":[54,96],"tasks":[55],"while":[56],"avoiding":[57],"aggressive":[58],"and":[59,76,126],"unsafe":[60],"behaviour,":[61],"regardless":[62],"controller":[65],"gains.":[66],"Additionally,":[67],"predict":[70],"task":[71],"success,":[72],"enabling":[73],"efficient":[74],"termination":[75],"autonomous":[77],"tuning":[78],"force":[81],"threshold.":[82],"show":[84],"that":[85],"can":[87],"be":[88],"used":[89],"learn":[91],"variety":[93],"including":[98],"forceful":[100],"insertion":[101],"snap-fit":[103],"connectors.":[104],"further":[106],"demonstrate":[107],"multistage":[109],"assembly":[110,121],"planetary":[113],"gear":[114,127],"system,":[115],"which":[116],"requires":[117],"success":[118],"across":[119],"three":[120],"tasks:":[122],"nut":[123],"threading,":[124],"insertion,":[125],"meshing.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":6}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}