{"id":"https://openalex.org/W4404520163","doi":"https://doi.org/10.1109/tro.2024.3502520","title":"Grasp, See, and Place: Efficient Unknown Object Rearrangement With Policy Structure Prior","display_name":"Grasp, See, and Place: Efficient Unknown Object Rearrangement With Policy Structure Prior","publication_year":2024,"publication_date":"2024-11-19","ids":{"openalex":"https://openalex.org/W4404520163","doi":"https://doi.org/10.1109/tro.2024.3502520"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3502520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3502520","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5062930488","display_name":"Kechun Xu","orcid":"https://orcid.org/0000-0002-3632-917X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kechun Xu","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-3632-917X","affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083459502","display_name":"Zhongxiang Zhou","orcid":"https://orcid.org/0000-0002-5430-4419"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongxiang Zhou","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5430-4419","affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078485305","display_name":"Jun Wu","orcid":"https://orcid.org/0000-0002-0468-8610"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Wu","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0468-8610","affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057948288","display_name":"Haojian Lu","orcid":"https://orcid.org/0000-0002-1393-3040"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haojian Lu","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1393-3040","affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-9318-9014","affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0981-935X","affiliations":[{"raw_affiliation_string":"Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":1.3892,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.8463793,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"41","issue":null,"first_page":"464","last_page":"483"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9057000279426575,"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"}},"topics":[{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9057000279426575,"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/grasp","display_name":"GRASP","score":0.8567014932632446},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.620043933391571},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.609386146068573},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5968942046165466},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5012545585632324},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.127282977104187}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8567014932632446},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.620043933391571},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.609386146068573},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5968942046165466},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5012545585632324},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.127282977104187}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3502520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3502520","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5262231350","display_name":null,"funder_award_id":"62173293","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":85,"referenced_works":["https://openalex.org/W1526868886","https://openalex.org/W1989823960","https://openalex.org/W2010220123","https://openalex.org/W2194775991","https://openalex.org/W2293698677","https://openalex.org/W2337977475","https://openalex.org/W2386192529","https://openalex.org/W2415216611","https://openalex.org/W2605102758","https://openalex.org/W2736647539","https://openalex.org/W2791787951","https://openalex.org/W2890783894","https://openalex.org/W2911873662","https://openalex.org/W2915251461","https://openalex.org/W2918333121","https://openalex.org/W2950697717","https://openalex.org/W2953127211","https://openalex.org/W2962872943","https://openalex.org/W2963390419","https://openalex.org/W2966615203","https://openalex.org/W2967171277","https://openalex.org/W2967681060","https://openalex.org/W2967729293","https://openalex.org/W3007769740","https://openalex.org/W3009928773","https://openalex.org/W3012008866","https://openalex.org/W3034201026","https://openalex.org/W3034275286","https://openalex.org/W3034758614","https://openalex.org/W3035198432","https://openalex.org/W3039141704","https://openalex.org/W3089355520","https://openalex.org/W3090679498","https://openalex.org/W3109585842","https://openalex.org/W3109908659","https://openalex.org/W3133137374","https://openalex.org/W3135705943","https://openalex.org/W3166285241","https://openalex.org/W3173721784","https://openalex.org/W3173991492","https://openalex.org/W3176770340","https://openalex.org/W3176814369","https://openalex.org/W3201276757","https://openalex.org/W3203645530","https://openalex.org/W3206144464","https://openalex.org/W3206916018","https://openalex.org/W3207057769","https://openalex.org/W3209765550","https://openalex.org/W3212977909","https://openalex.org/W3213354518","https://openalex.org/W4205892839","https://openalex.org/W4206944021","https://openalex.org/W4226344024","https://openalex.org/W4231002530","https://openalex.org/W4243970992","https://openalex.org/W4285102336","https://openalex.org/W4292972737","https://openalex.org/W4312891162","https://openalex.org/W4319068933","https://openalex.org/W4323527514","https://openalex.org/W4323527547","https://openalex.org/W4365420733","https://openalex.org/W4383108836","https://openalex.org/W4383109043","https://openalex.org/W4385245566","https://openalex.org/W4385403813","https://openalex.org/W4386160361","https://openalex.org/W4386790226","https://openalex.org/W6740023956","https://openalex.org/W6755305357","https://openalex.org/W6755421158","https://openalex.org/W6769596995","https://openalex.org/W6784607570","https://openalex.org/W6784840303","https://openalex.org/W6785308759","https://openalex.org/W6791353385","https://openalex.org/W6799150178","https://openalex.org/W6800497432","https://openalex.org/W6801213170","https://openalex.org/W6801810553","https://openalex.org/W6805410915","https://openalex.org/W6810080435","https://openalex.org/W6810655313","https://openalex.org/W6840672779","https://openalex.org/W6846496272"],"related_works":["https://openalex.org/W2657478029","https://openalex.org/W4248427955","https://openalex.org/W2963326767","https://openalex.org/W2106333554","https://openalex.org/W2626503888","https://openalex.org/W2037306763","https://openalex.org/W2080808138","https://openalex.org/W2129483190","https://openalex.org/W2772917594","https://openalex.org/W2036807459"],"abstract_inverted_index":{"We":[0,71,98,148],"focus":[1],"on":[2],"the":[3,16,75,109,115,129,150],"task":[4,96],"of":[5,138,163],"unknown":[6,31,65,170],"object":[7,32,66,126,139,155,171],"rearrangement,":[8],"where":[9],"a":[10,19,83,89,105,120,134],"robot":[11],"is":[12,92],"supposed":[13],"to":[14,44,51,59,94],"reconfigure":[15],"objects":[17],"into":[18],"desired":[20],"goal":[21],"configuration":[22],"specified":[23],"by":[24,35,145],"an":[25,61],"RGB-D":[26],"image.":[27],"Recent":[28],"works":[29],"explore":[30],"rearrangement":[33,67,172],"systems":[34],"incorporating":[36],"learning-based":[37],"perception":[38,45,69,77],"modules.":[39],"However,":[40],"they":[41],"are":[42],"sensitive":[43],"error,":[46],"and":[47,80,86,102,141,159,177],"pay":[48],"less":[49],"attention":[50],"task-level":[52,146],"performance.":[53],"In":[54],"this":[55],"article,":[56],"we":[57,118,132],"aim":[58],"develop":[60],"effective":[62],"system":[63,107],"for":[64,123,154],"amidst":[68],"noise.":[70],"theoretically":[72],"reveal":[73],"that":[74,166],"noisy":[76],"impacts":[78],"grasp":[79,135,142],"place":[81,103],"in":[82],"decoupled":[84,90,110],"way,":[85],"show":[87],"such":[88],"structure":[91,111],"valuable":[93],"improve":[95],"optimality.":[97],"propose":[99],"grasp,":[100],"see,":[101],"(GSP),":[104],"dual-loop":[106],"with":[108,173],"as":[112],"prior.":[113],"For":[114,128],"inner":[116],"loop,":[117,131],"learn":[119,133],"see":[121],"policy":[122,136,157],"self-confident":[124],"in-hand":[125],"matching.":[127],"outer":[130],"aware":[137],"matching":[140],"capability":[143],"guided":[144],"rewards.":[147],"leverage":[149],"foundation":[151],"model":[152],"CLIP":[153],"matching,":[156],"learning,":[158],"self-termination.":[160],"A":[161],"series":[162],"experiments":[164],"indicate":[165],"GSP":[167],"can":[168],"conduct":[169],"higher":[174],"completion":[175],"rates":[176],"fewer":[178],"steps.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}