{"id":"https://openalex.org/W4403918948","doi":"https://doi.org/10.1109/ro-man60168.2024.10731363","title":"Physics Representation Learning for Dexterous Manipulation Planning","display_name":"Physics Representation Learning for Dexterous Manipulation Planning","publication_year":2024,"publication_date":"2024-08-26","ids":{"openalex":"https://openalex.org/W4403918948","doi":"https://doi.org/10.1109/ro-man60168.2024.10731363"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man60168.2024.10731363","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ro-man60168.2024.10731363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)","raw_type":"proceedings-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/A5022717975","display_name":"Yi\u2010Ning Wu","orcid":"https://orcid.org/0000-0001-8369-6717"},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]},{"id":"https://openalex.org/I277688954","display_name":"Universit\u00e9 Paris-Saclay","ror":"https://ror.org/03xjwb503","country_code":"FR","type":"education","lineage":["https://openalex.org/I277688954"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Yi Wu","raw_affiliation_strings":["Paris-Saclay University,Informatique et Sciences du Num&#x00E9;rique (Computer Research Laboratory), Central&#x00E9;Supelec,Gif-Sur-Yvette,France,91190"],"affiliations":[{"raw_affiliation_string":"Paris-Saclay University,Informatique et Sciences du Num&#x00E9;rique (Computer Research Laboratory), Central&#x00E9;Supelec,Gif-Sur-Yvette,France,91190","institution_ids":["https://openalex.org/I277688954","https://openalex.org/I102475099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111144556","display_name":"Mengsha Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I149910238","display_name":"Kent State University","ror":"https://ror.org/049pfb863","country_code":"US","type":"education","lineage":["https://openalex.org/I149910238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mengsha Hu","raw_affiliation_strings":["Kent State University,Department of Computer Science,Kent,OH,USA,44240"],"affiliations":[{"raw_affiliation_string":"Kent State University,Department of Computer Science,Kent,OH,USA,44240","institution_ids":["https://openalex.org/I149910238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113269413","display_name":"Runxiang Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Runxiang Jin","raw_affiliation_strings":["College of Aeronautics and Engineering,Cognitive Robotics and AI Lab (CRAI)"],"affiliations":[{"raw_affiliation_string":"College of Aeronautics and Engineering,Cognitive Robotics and AI Lab (CRAI)","institution_ids":["https://openalex.org/I13805885"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100448453","display_name":"Rui Liu","orcid":"https://orcid.org/0000-0002-2842-3860"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rui Liu","raw_affiliation_strings":["College of Aeronautics and Engineering,Cognitive Robotics and AI Lab (CRAI)"],"affiliations":[{"raw_affiliation_string":"College of Aeronautics and Engineering,Cognitive Robotics and AI Lab (CRAI)","institution_ids":["https://openalex.org/I13805885"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022717975"],"corresponding_institution_ids":["https://openalex.org/I102475099","https://openalex.org/I277688954"],"apc_list":null,"apc_paid":null,"fwci":0.3576,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.61192179,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1177","last_page":"1182"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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":0.9984999895095825,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9350000023841858,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9221000075340271,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5719566345214844},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5435544848442078},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4167737066745758},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3836223781108856}],"concepts":[{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5719566345214844},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5435544848442078},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4167737066745758},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3836223781108856},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man60168.2024.10731363","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ro-man60168.2024.10731363","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2109163007","https://openalex.org/W2560609797","https://openalex.org/W2964043796","https://openalex.org/W3016422353","https://openalex.org/W4225987121","https://openalex.org/W4226278401","https://openalex.org/W4281786361","https://openalex.org/W6692846177","https://openalex.org/W6763422710","https://openalex.org/W6810738896"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Dexterous":[0],"manipulation":[1],"in":[2,19,115],"robotics,":[3],"particularly":[4],"with":[5,108],"high":[6],"degrees":[7],"of":[8,35,96,143],"freedom":[9],"(DoF)":[10],"devices":[11],"like":[12],"the":[13,42,75,80,97,141],"24-joint":[14],"Shadow":[15],"Hand,":[16],"confronts":[17],"complexities":[18],"search":[20],"space":[21],"and":[22,86,125,136],"execution":[23,88],"precision.":[24],"Humans,":[25],"however,":[26],"manipulate":[27],"objects":[28],"effortlessly,":[29],"thanks":[30],"to":[31],"their":[32],"innate":[33],"grasp":[34],"physics.":[36],"Inspired":[37],"by":[38],"this,":[39],"we":[40],"introduce":[41],"Physics":[43],"Representation":[44],"Learning":[45,105],"(PRL)":[46],"framework":[47],"for":[48,56,147],"robotic":[49],"hand":[50],"manipulation.":[51],"PRL":[52,101,130],"uses":[53],"physics":[54,76],"principles":[55],"action":[57,99,145],"conceptualization,":[58],"such":[59],"as":[60],"aligning":[61],"axes":[62],"at":[63],"specific":[64],"angles":[65],"(Figure":[66],"1).":[67],"It":[68],"is":[69],"a":[70,103],"natural":[71],"language":[72],"that":[73,129],"describes":[74],"laws,":[77],"thus":[78],"bridging":[79],"gap":[81],"between":[82],"high-level":[83],"semantics":[84],"planning":[85],"joint-level":[87],"through":[89],"inverse":[90],"kinematics":[91],"(IK).":[92],"Built":[93],"on":[94,119],"top":[95],"physics-informed":[98],"space,":[100],"deploys":[102],"Reinforcement":[104],"(RL)":[106],"network":[107],"expert":[109],"demonstrations.":[110],"Its":[111],"effectiveness":[112],"was":[113],"validated":[114],"Nvidia":[116],"Isaac":[117],"Sim":[118],"four":[120],"tasks:":[121],"hammering,":[122],"unscrewing,":[123],"sweeping,":[124],"pinching.":[126],"Results":[127],"show":[128],"significantly":[131],"outperforms":[132],"conventional":[133],"joint-control":[134],"algorithms":[135],"RL":[137],"without":[138],"demonstrations,":[139],"underscoring":[140],"benefits":[142],"physics-based":[144],"representations":[146],"complex":[148],"tasks.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
