{"id":"https://openalex.org/W4317383443","doi":"https://doi.org/10.1109/robio55434.2022.10011878","title":"Sim-to-Real Transfer of Robotic Assembly with Visual Inputs Using CycleGAN and Force Control","display_name":"Sim-to-Real Transfer of Robotic Assembly with Visual Inputs Using CycleGAN and Force Control","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383443","doi":"https://doi.org/10.1109/robio55434.2022.10011878"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011878","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5088364201","display_name":"Chengjie Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Chengjie Yuan","raw_affiliation_strings":["Technische Universität München","Agile Robots AG"],"affiliations":[{"raw_affiliation_string":"Technische Universität München","institution_ids":[]},{"raw_affiliation_string":"Agile Robots AG","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007992008","display_name":"Yunlei Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yunlei Shi","raw_affiliation_strings":["Agile Robots AG"],"affiliations":[{"raw_affiliation_string":"Agile Robots AG","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067605561","display_name":"Qian Feng","orcid":"https://orcid.org/0000-0002-8044-1468"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qian Feng","raw_affiliation_strings":["Technische Universität München","Agile Robots AG"],"affiliations":[{"raw_affiliation_string":"Technische Universität München","institution_ids":[]},{"raw_affiliation_string":"Agile Robots AG","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090301286","display_name":"Chunyang Chang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chunyang Chang","raw_affiliation_strings":["Agile Robots AG"],"affiliations":[{"raw_affiliation_string":"Agile Robots AG","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100333916","display_name":"Michael C. Liu","orcid":"https://orcid.org/0000-0003-2232-7664"},"institutions":[{"id":"https://openalex.org/I4210153682","display_name":"Intelligent Health (United Kingdom)","ror":"https://ror.org/0576zak10","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210153682"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Michael Liu","raw_affiliation_strings":["New Hope Intelligent Manufacturing Ltd. Company"],"affiliations":[{"raw_affiliation_string":"New Hope Intelligent Manufacturing Ltd. Company","institution_ids":["https://openalex.org/I4210153682"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101705037","display_name":"Zhaopeng Chen","orcid":"https://orcid.org/0000-0003-0375-9146"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhaopeng Chen","raw_affiliation_strings":["Agile Robots AG"],"affiliations":[{"raw_affiliation_string":"Agile Robots AG","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alois Christian Knoll","raw_affiliation_strings":["Technische Universität München"],"affiliations":[{"raw_affiliation_string":"Technische Universität München","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100326970","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-7856-5760"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["Universität Hamburg,TAMS (Technical Aspects of Multimodal Systems),Department of Informatics"],"affiliations":[{"raw_affiliation_string":"Universität Hamburg,TAMS (Technical Aspects of Multimodal Systems),Department of Informatics","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5088364201"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.2469,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.96723964,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1426","last_page":"1432"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.992900013923645,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9908000230789185,"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/computer-science","display_name":"Computer science","score":0.7692035436630249},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7342384457588196},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6102316379547119},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5598966479301453},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.5337591767311096},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5194594264030457},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.4972114861011505},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.47447019815444946},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.46015647053718567},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.46014484763145447},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45902496576309204}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7692035436630249},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7342384457588196},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6102316379547119},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5598966479301453},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.5337591767311096},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5194594264030457},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.4972114861011505},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.47447019815444946},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.46015647053718567},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.46014484763145447},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45902496576309204},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio55434.2022.10011878","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3137027370","display_name":null,"funder_award_id":"61621136008","funder_id":"https://openalex.org/F4320320997","funder_display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo"}],"funders":[{"id":"https://openalex.org/F4320320997","display_name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado de S\u00e3o Paulo","ror":"https://ror.org/02ddkpn78"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1967377907","https://openalex.org/W1977655452","https://openalex.org/W2008731016","https://openalex.org/W2015731639","https://openalex.org/W2030884881","https://openalex.org/W2037799522","https://openalex.org/W2064557786","https://openalex.org/W2131717626","https://openalex.org/W2152486651","https://openalex.org/W2155007355","https://openalex.org/W2584009249","https://openalex.org/W2605102758","https://openalex.org/W2767050701","https://openalex.org/W2781726626","https://openalex.org/W2795577874","https://openalex.org/W2796864868","https://openalex.org/W2810785043","https://openalex.org/W2909718913","https://openalex.org/W2938807566","https://openalex.org/W2962736495","https://openalex.org/W2962793481","https://openalex.org/W2963184939","https://openalex.org/W2963390419","https://openalex.org/W2963940579","https://openalex.org/W2964248288","https://openalex.org/W2968095426","https://openalex.org/W2990747716","https://openalex.org/W3006082040","https://openalex.org/W3035756007","https://openalex.org/W3090612618","https://openalex.org/W3101442004","https://openalex.org/W3111934344","https://openalex.org/W3126321819","https://openalex.org/W3130717831","https://openalex.org/W3132082252","https://openalex.org/W3134091418","https://openalex.org/W3159735414","https://openalex.org/W4214717370","https://openalex.org/W4298857966","https://openalex.org/W4320013936","https://openalex.org/W6637967152","https://openalex.org/W6682849425","https://openalex.org/W6747473740","https://openalex.org/W6753243525","https://openalex.org/W6755109041","https://openalex.org/W6761327112","https://openalex.org/W6764800732","https://openalex.org/W6780559895"],"related_works":["https://openalex.org/W2502115930","https://openalex.org/W2482350142","https://openalex.org/W4246396837","https://openalex.org/W3126451824","https://openalex.org/W1561927205","https://openalex.org/W3191453585","https://openalex.org/W4297672492","https://openalex.org/W4310988119","https://openalex.org/W4285226279","https://openalex.org/W4288019534"],"abstract_inverted_index":{"Recently,":[0],"deep":[1],"reinforcement":[2],"learning":[3,55],"(RL)":[4],"has":[5],"shown":[6],"some":[7],"impressive":[8],"successes":[9],"in":[10,17,64,111],"robotic":[11],"manipulation":[12],"applications.":[13],"However,":[14],"training":[15,63],"robots":[16],"the":[18,36,45,77,101,107],"real":[19,121],"world":[20],"is":[21,32],"nontrivial":[22],"owing":[23],"to":[24,34,75,99,119],"sample":[25],"efficiency":[26],"and":[27,61,93],"safety":[28],"concerns.":[29],"Sim-to-real":[30],"transfer":[31,97],"proposed":[33,108],"address":[35,76],"aforementioned":[37,78],"concerns":[38],"but":[39],"introduces":[40],"a":[41,53,65,72,82,94,112,120],"new":[42],"issue":[43],"called":[44],"reality":[46,102],"gap.":[47,103],"In":[48],"this":[49],"work,":[50],"we":[51],"introduce":[52],"sim-to-real":[54],"framework":[56,109],"for":[57],"vision-based":[58],"assembly":[59],"tasks":[60],"perform":[62],"simulated":[66,113],"environment":[67,114],"by":[68],"employing":[69],"inputs":[70],"from":[71],"single":[73],"camera":[74],"issues.":[79],"We":[80,104],"present":[81],"domain":[83],"adaptation":[84],"method":[85],"based":[86],"on":[87],"cycle-consistent":[88],"generative":[89],"adversarial":[90],"networks":[91],"(CycleGAN)":[92],"force":[95],"control":[96],"approach":[98],"bridge":[100],"demonstrate":[105],"that":[106],"trained":[110],"can":[115],"be":[116],"successfully":[117],"transferred":[118],"peg-in-hole":[122],"setup.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}