{"id":"https://openalex.org/W4415883147","doi":"https://doi.org/10.1109/tnnls.2025.3618280","title":"Generalizable Multistage Assembly via One-Shot Category-Level Demonstration","display_name":"Generalizable Multistage Assembly via One-Shot Category-Level Demonstration","publication_year":2025,"publication_date":"2025-11-04","ids":{"openalex":"https://openalex.org/W4415883147","doi":"https://doi.org/10.1109/tnnls.2025.3618280","pmid":"https://pubmed.ncbi.nlm.nih.gov/41187031"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2025.3618280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2025.3618280","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5074697713","display_name":"Yu Ren","orcid":"https://orcid.org/0000-0003-2637-9728"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Ren","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-2637-9728","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006477225","display_name":"Yang Cong","orcid":"https://orcid.org/0000-0002-5102-0189"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Cong","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5102-0189","affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023088257","display_name":"Ronghan Chen","orcid":"https://orcid.org/0000-0001-6307-2923"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ronghan Chen","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0001-6307-2923","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103213492","display_name":"Wei Wei Cong","orcid":"https://orcid.org/0000-0002-9531-7179"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Cong","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-9531-7179","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031333887","display_name":"Gan Sun","orcid":"https://orcid.org/0000-0003-1111-6909"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gan Sun","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-1111-6909","affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3599565,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"37","issue":"3","first_page":"1149","last_page":"1162"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9947999715805054,"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":0.9947999715805054,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.002199999988079071,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.0006000000284984708,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7408000230789185},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6679999828338623},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6503999829292297},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6444000005722046},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6395999789237976},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4397999942302704},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4318000078201294},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.3889999985694885}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7408000230789185},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6679999828338623},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6628000140190125},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6503999829292297},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6444000005722046},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6395999789237976},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6000000238418579},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4397999942302704},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4318000078201294},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.3889999985694885},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.36079999804496765},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3587999939918518},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.299699991941452},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.29190000891685486},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2913999855518341},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2897000014781952},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.28540000319480896},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2824999988079071},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.28029999136924744},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2703000009059906},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26589998602867126},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.2581000030040741},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.25529998540878296},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25279998779296875}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2025.3618280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2025.3618280","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:41187031","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41187031","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on neural networks and learning systems","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6191170132","display_name":null,"funder_award_id":"62225310","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7968052432","display_name":null,"funder_award_id":"62003336","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Imitation":[0],"learning":[1],"offers":[2],"a":[3,24,36,101,114,118,124],"flexible":[4],"approach":[5],"for":[6,46,106],"robot":[7,108,115,178],"skill":[8],"acquisition,":[9],"enabling":[10,176],"robots":[11],"to":[12,61,67,116,129,145,156,160,179,181],"learn":[13,117],"complex":[14],"tasks":[15],"directly":[16],"from":[17,79,123,149],"demonstrations.":[18,38],"However,":[19],"most":[20],"existing":[21],"methods":[22,51],"require":[23],"large":[25],"number":[26],"of":[27],"demonstrations,":[28],"whereas":[29],"humans":[30],"typically":[31],"only":[32],"need":[33],"one":[34],"or":[35,89],"few":[37],"This":[39,111],"discrepancy":[40],"results":[41],"in":[42,192],"significant":[43],"time":[44],"consumption":[45],"data":[47],"collection.":[48],"Furthermore,":[49],"these":[50,97,158],"often":[52],"assume":[53],"that":[54],"test":[55],"scenarios":[56],"will":[57],"always":[58],"be":[59],"identical":[60],"the":[62,80,139,150,169,177],"demonstration,":[63],"which":[64],"can":[65],"lead":[66],"substantial":[68],"performance":[69],"degradation":[70],"when":[71],"facing":[72],"novel":[73,161],"scenarios,":[74],"such":[75],"as":[76],"manipulating":[77],"objects":[78],"same":[81],"category":[82],"but":[83],"with":[84,133],"different":[85],"shapes":[86,135],"and":[87,127,136,152,195,201],"sizes,":[88],"encountering":[90],"object":[91,131],"collisions":[92,183],"during":[93,184],"manipulation.":[94],"To":[95],"address":[96],"challenges,":[98],"we":[99],"propose":[100],"generalized":[102],"multistage":[103,119],"manipulation":[104,147],"network":[105,112,140],"category-level":[107,142],"assembly":[109,121],"tasks.":[110],"allows":[113],"screw-nut":[120],"task":[122],"single":[125],"demonstration":[126,151],"generalize":[128],"new":[130],"instances":[132],"varying":[134],"sizes.":[137],"Specifically,":[138],"uses":[141],"pose":[143],"estimation":[144],"extract":[146],"trajectories":[148,159],"applies":[153],"manipulation-pose":[154],"generalization":[155],"transfer":[157],"instances.":[162],"In":[163],"addition,":[164],"real-time":[165,173],"action":[166],"correction":[167],"adjusts":[168],"trajectory":[170],"based":[171],"on":[172],"force":[174],"feedback,":[175],"adapt":[180],"unexpected":[182],"execution.":[185],"We":[186],"validate":[187],"our":[188],"method":[189],"through":[190],"experiments":[191],"both":[193],"simulation":[194],"real-world":[196],"environments,":[197],"verifying":[198],"its":[199],"effectiveness":[200],"flexibility.":[202]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-04T00:00:00"}