{"id":"https://openalex.org/W4417251996","doi":"https://doi.org/10.1109/lra.2025.3643335","title":"Transformer Driven Visual Servoing for Fabric Texture Matching Using Dual-Arm Manipulator","display_name":"Transformer Driven Visual Servoing for Fabric Texture Matching Using Dual-Arm Manipulator","publication_year":2025,"publication_date":"2025-12-11","ids":{"openalex":"https://openalex.org/W4417251996","doi":"https://doi.org/10.1109/lra.2025.3643335"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3643335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3643335","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/A5011912729","display_name":"Fuyuki Tokuda","orcid":"https://orcid.org/0000-0002-8623-5497"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Fuyuki Tokuda","raw_affiliation_strings":["JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR, China","JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023333773","display_name":"Akira Seino","orcid":"https://orcid.org/0000-0002-4476-8391"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Akira Seino","raw_affiliation_strings":["JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR, China","JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035351765","display_name":"Akinari Kobayashi","orcid":"https://orcid.org/0000-0001-7148-8048"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Akinari Kobayashi","raw_affiliation_strings":["JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR, China","JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067743569","display_name":"Kai Tang","orcid":"https://orcid.org/0000-0002-5184-2086"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kai Tang","raw_affiliation_strings":["JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR, China","JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082419118","display_name":"Kazuhiro Kosuge","orcid":"https://orcid.org/0000-0002-2060-2936"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kazuhiro Kosuge","raw_affiliation_strings":["JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR, China","JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"JC STEM Lab of Robotics for Soft Materials, Department of Electrical and Electronic Engineering, Faculty of Engineering, The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5011912729"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43502562,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"1522","last_page":"1529"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.2847000062465668,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.2847000062465668,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.15880000591278076,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.09030000120401382,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.8036999702453613},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5188999772071838},{"id":"https://openalex.org/keywords/grayscale","display_name":"Grayscale","score":0.5047000050544739},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.376800000667572},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.3224000036716461},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30730000138282776},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.30090001225471497}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8036999702453613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.73580002784729},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7254999876022339},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6164000034332275},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5188999772071838},{"id":"https://openalex.org/C78201319","wikidata":"https://www.wikidata.org/wiki/Q685727","display_name":"Grayscale","level":3,"score":0.5047000050544739},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.376800000667572},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.3224000036716461},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30730000138282776},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2863999903202057},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27730000019073486},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.26499998569488525},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C2781411174","wikidata":"https://www.wikidata.org/wiki/Q8034662","display_name":"Workcell","level":3,"score":0.2606000006198883},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.25920000672340393},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25760000944137573},{"id":"https://openalex.org/C2780527621","wikidata":"https://www.wikidata.org/wiki/Q7936593","display_name":"Visual control","level":2,"score":0.257099986076355}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3643335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3643335","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2016003132","https://openalex.org/W2082991751","https://openalex.org/W2086161653","https://openalex.org/W2114347750","https://openalex.org/W2159641652","https://openalex.org/W2752782242","https://openalex.org/W2788822937","https://openalex.org/W2964270628","https://openalex.org/W2990743384","https://openalex.org/W3003339604","https://openalex.org/W3034421924","https://openalex.org/W3034552520","https://openalex.org/W3091689308","https://openalex.org/W3170278846","https://openalex.org/W3174035324","https://openalex.org/W4383108208","https://openalex.org/W4385245566","https://openalex.org/W4386076493","https://openalex.org/W4388520098","https://openalex.org/W4391243904","https://openalex.org/W4403337227","https://openalex.org/W4403600945","https://openalex.org/W4414116792"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4,35],"a":[5,11,19,23,36,86],"method":[6],"to":[7,54,73],"align":[8],"and":[9,22,63,85],"place":[10,64],"fabric":[12,61,76,124,135],"piece":[13,62,77],"on":[14,103,122],"top":[15],"of":[16,59],"another":[17],"using":[18,107],"dual-arm":[20,46],"manipulator":[21],"grayscale":[24],"camera,":[25],"so":[26],"that":[27,40,129],"their":[28],"surface":[29],"textures":[30],"are":[31],"accurately":[32,133],"matched.":[33],"We":[34],"novel":[37],"control":[38,56],"scheme":[39],"combines":[41],"Transformer-driven":[42],"visual":[43],"servoing":[44],"with":[45,137],"impedance":[47],"control.":[48],"This":[49],"approach":[50],"enables":[51,112],"the":[52,57,60,67,75,110,130],"system":[53,132],"simultaneously":[55],"pose":[58,97],"it":[65],"onto":[66],"underlying":[68],"one":[69],"while":[70],"applying":[71],"tension":[72],"keep":[74],"flat.":[78],"Our":[79],"transformer-based":[80],"network":[81,111],"incorporates":[82],"pre-trained":[83],"backbones":[84],"newly":[87],"introduced":[88],"Difference":[89],"Extraction":[90],"Attention":[91],"Module":[92],"(DEAM),":[93],"which":[94],"significantly":[95],"enhances":[96],"difference":[98],"prediction":[99],"accuracy.":[100],"Trained":[101],"entirely":[102],"synthetic":[104],"images":[105],"generated":[106],"rendering":[108],"software,":[109],"zero-shot":[113],"deployment":[114],"in":[115],"real-world":[116],"scenarios":[117],"without":[118],"requiring":[119],"prior":[120],"training":[121],"specific":[123],"textures.":[125,139],"Real-world":[126],"experiments":[127],"demonstrate":[128],"proposed":[131],"aligns":[134],"pieces":[136],"different":[138]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-12-11T00:00:00"}
