{"id":"https://openalex.org/W4416078148","doi":"https://doi.org/10.1109/tetci.2025.3623331","title":"Learning Robot Dynamic Cloth Manipulation Based on Differentiable Dynamics Optimization and Motion Transfer","display_name":"Learning Robot Dynamic Cloth Manipulation Based on Differentiable Dynamics Optimization and Motion Transfer","publication_year":2025,"publication_date":"2025-11-10","ids":{"openalex":"https://openalex.org/W4416078148","doi":"https://doi.org/10.1109/tetci.2025.3623331"},"language":null,"primary_location":{"id":"doi:10.1109/tetci.2025.3623331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tetci.2025.3623331","pdf_url":null,"source":{"id":"https://openalex.org/S4210210251","display_name":"IEEE Transactions on Emerging Topics in Computational Intelligence","issn_l":"2471-285X","issn":["2471-285X"],"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 Transactions on Emerging Topics in Computational Intelligence","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/A5114119803","display_name":"Hengyi Sim","orcid":"https://orcid.org/0009-0003-0212-7566"},"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":true,"raw_author_name":"Hengyi Sim","raw_affiliation_strings":["Collaborative and Versatile Robots (CLOVER) Laboratory, Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Collaborative and Versatile Robots (CLOVER) Laboratory, Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071018452","display_name":"Junjia Liu","orcid":"https://orcid.org/0000-0003-2428-5533"},"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":"Junjia Liu","raw_affiliation_strings":["Collaborative and Versatile Robots (CLOVER) Laboratory, Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Collaborative and Versatile Robots (CLOVER) Laboratory, Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109022926","display_name":"Donatien Delehelle","orcid":"https://orcid.org/0009-0000-0049-6585"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Donatien Delehelle","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101768802","display_name":"Xingyu Wu","orcid":"https://orcid.org/0000-0002-8204-6197"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xingyu Wu","raw_affiliation_strings":["Department of Data Science and Artificial Intelligence, The Hong Kong Polytechnic University, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Data Science and Artificial Intelligence, The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100405442","display_name":"Fei Chen","orcid":"https://orcid.org/0000-0003-4397-0931"},"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":"Fei Chen","raw_affiliation_strings":["Collaborative and Versatile Robots (CLOVER) Laboratory, Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Collaborative and Versatile Robots (CLOVER) Laboratory, Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5114119803"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.42136774,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"2","first_page":"1641","last_page":"1653"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4986000061035156,"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":0.4986000061035156,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.2847999930381775,"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/T10868","display_name":"Soft Robotics and Applications","score":0.065700002014637,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5408999919891357},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5095999836921692},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5084999799728394},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5044000148773193},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4821000099182129},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.44040000438690186},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.438400000333786},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.35409998893737793},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.3330000042915344}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.670799970626831},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5692999958992004},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5408999919891357},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5095999836921692},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5084999799728394},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5044000148773193},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4821000099182129},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.44040000438690186},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.438400000333786},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.35409998893737793},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34790000319480896},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.3330000042915344},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.3294999897480011},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31779998540878296},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.3082999885082245},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.30820000171661377},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.296099990606308},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.29589998722076416},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.290800005197525},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.29030001163482666},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.2847000062465668},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28220000863075256},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2797999978065491},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.26330000162124634},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26170000433921814},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.25540000200271606},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.25040000677108765},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tetci.2025.3623331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tetci.2025.3623331","pdf_url":null,"source":{"id":"https://openalex.org/S4210210251","display_name":"IEEE Transactions on Emerging Topics in Computational Intelligence","issn_l":"2471-285X","issn":["2471-285X"],"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 Transactions on Emerging Topics in Computational Intelligence","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Dynamic":[0],"manipulation":[1,16,28,51,87,145,159,187],"of":[2,29,46,52,64,74,171],"soft":[3,30],"objects":[4,31],"are":[5,163],"often":[6],"employed":[7],"by":[8,32],"humans":[9],"in":[10,67],"everyday":[11],"life.":[12],"In":[13,79],"robotics,":[14],"cloth":[15,65,85,99,104,125,151,190],"serves":[17],"as":[18,57],"a":[19,84,123,156,180],"commonly":[20],"used":[21,142],"test":[22],"case":[23],"for":[24,189],"researching":[25],"the":[26,36,47,59,71,76,109,168,172],"dynamic":[27,50,86,186],"robots,":[33],"thereby":[34],"improving":[35],"robot\u2019s":[37],"task":[38],"efficiency":[39],"with":[40],"extended":[41],"control":[42],"over":[43],"uncontacted":[44],"regions":[45],"cloth.":[48],"However,":[49],"cloths":[53],"introduces":[54],"challenges":[55],"such":[56],"controlling":[58],"high":[60],"dimensional":[61],"state":[62],"space":[63],"resulting":[66],"complex":[68],"dynamics,":[69],"and":[70,175],"inherent":[72],"difficulty":[73],"planning":[75],"non-prehensile":[77],"manipulation.":[78],"this":[80],"work,":[81],"we":[82],"propose":[83],"policy":[88],"learned":[89],"via":[90],"an":[91],"adversarial":[92],"imitation":[93],"learning":[94,139],"pipeline":[95],"based":[96,119],"on":[97,179],"realistic":[98,124,150],"dynamics":[100,111],"trained":[101],"from":[102,148,154],"real":[103],"deformation":[105],"ground":[106],"truth":[107],"through":[108],"real2sim":[110,115],"exploration":[112],"module.":[113],"The":[114],"module":[116],"leverages":[117],"gradient":[118],"optimization":[120],"to":[121,143,166,183],"learn":[122,144],"model":[126],"that":[127],"performs":[128],"well":[129],"under":[130],"significant":[131],"deformations,":[132],"while":[133],"generalizing":[134],"across":[135],"different":[136],"materials.":[137],"Imitation":[138],"is":[140],"then":[141,164],"styles":[146],"directly":[147],"observing":[149],"states":[152],"generated":[153],"just":[155],"single":[157],"expert":[158],"path.":[160],"Several":[161],"experiments":[162],"designed":[165],"evaluate":[167],"generalization":[169],"ability":[170],"proposed":[173],"method,":[174],"have":[176],"been":[177],"deployed":[178],"humanoid":[181],"robot":[182],"generate":[184],"bimanual":[185],"motions":[188],"handling.":[191]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-11-10T00:00:00"}