{"id":"https://openalex.org/W4411799533","doi":"https://doi.org/10.1109/tro.2025.3584504","title":"DexSim2Real$^{\\mathbf{2}}$: Building Explicit World Model for Precise Articulated Object Dexterous Manipulation","display_name":"DexSim2Real$^{\\mathbf{2}}$: Building Explicit World Model for Precise Articulated Object Dexterous Manipulation","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411799533","doi":"https://doi.org/10.1109/tro.2025.3584504"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3584504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3584504","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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/A5113236488","display_name":"Taoran Jiang","orcid":"https://orcid.org/0009-0000-5807-967X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Taoran Jiang","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113259234","display_name":"Yixuan Guan","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixuan Guan","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027446640","display_name":"Liqian Ma","orcid":"https://orcid.org/0000-0002-0814-9876"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liqian Ma","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087396510","display_name":"Jing Xu","orcid":"https://orcid.org/0000-0002-2997-2351"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Xu","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2997-2351","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049132680","display_name":"Jiaojiao Meng","orcid":"https://orcid.org/0000-0001-6069-6474"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaojiao Meng","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088873598","display_name":"Weihang Chen","orcid":"https://orcid.org/0000-0003-1892-5530"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihang Chen","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-1892-5530","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067106372","display_name":"Zecui Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210103986","display_name":"Jingdong (China)","ror":"https://ror.org/01dkjkq64","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210103986"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zecui Zeng","raw_affiliation_strings":["JD Explore Academy, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JD Explore Academy, Beijing, China","institution_ids":["https://openalex.org/I4210103986"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000112545","display_name":"Lusong Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4210103986","display_name":"Jingdong (China)","ror":"https://ror.org/01dkjkq64","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210103986"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lusong Li","raw_affiliation_strings":["JD Explore Academy, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JD Explore Academy, Beijing, China","institution_ids":["https://openalex.org/I4210103986"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061911091","display_name":"Dan Wu","orcid":"https://orcid.org/0000-0002-3856-1087"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Wu","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3856-1087","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100403640","display_name":"Rui Chen","orcid":"https://orcid.org/0000-0002-4041-4131"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Chen","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4041-4131","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5113236488"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":2.1998,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.88178585,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"41","issue":null,"first_page":"4360","last_page":"4379"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9851999878883362,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9832000136375427,"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/object","display_name":"Object (grammar)","score":0.6137670278549194},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49029114842414856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46131229400634766},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39579904079437256}],"concepts":[{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6137670278549194},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49029114842414856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46131229400634766},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39579904079437256}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3584504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3584504","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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/G3269513086","display_name":null,"funder_award_id":"62203258","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4467578854","display_name":null,"funder_award_id":"62425306","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5683911863","display_name":null,"funder_award_id":"62173198","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":54,"referenced_works":["https://openalex.org/W1964019934","https://openalex.org/W1980035368","https://openalex.org/W1998772241","https://openalex.org/W2021065900","https://openalex.org/W2043510487","https://openalex.org/W2069091097","https://openalex.org/W2112036576","https://openalex.org/W2128082316","https://openalex.org/W2138537392","https://openalex.org/W2152185829","https://openalex.org/W2410617946","https://openalex.org/W2416041116","https://openalex.org/W2528489519","https://openalex.org/W2770616710","https://openalex.org/W2963170432","https://openalex.org/W2963276406","https://openalex.org/W2964329252","https://openalex.org/W2980109758","https://openalex.org/W2983465317","https://openalex.org/W2990747716","https://openalex.org/W2997101648","https://openalex.org/W3007769740","https://openalex.org/W3035624836","https://openalex.org/W3088304681","https://openalex.org/W3101269502","https://openalex.org/W3106672182","https://openalex.org/W3120441392","https://openalex.org/W3152331843","https://openalex.org/W3175450634","https://openalex.org/W3199614037","https://openalex.org/W3207081724","https://openalex.org/W4206434057","https://openalex.org/W4225003209","https://openalex.org/W4226372424","https://openalex.org/W4252189904","https://openalex.org/W4283785166","https://openalex.org/W4312363187","https://openalex.org/W4313160783","https://openalex.org/W4366330680","https://openalex.org/W4383108452","https://openalex.org/W4383108746","https://openalex.org/W4386025948","https://openalex.org/W4386065350","https://openalex.org/W4386075660","https://openalex.org/W4386076586","https://openalex.org/W4386523657","https://openalex.org/W4389665788","https://openalex.org/W4390776907","https://openalex.org/W4402354127","https://openalex.org/W4402716263","https://openalex.org/W4402754209","https://openalex.org/W4403888324","https://openalex.org/W4404402981","https://openalex.org/W4410779465"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Articulated":[0],"objects":[1,38],"are":[2],"ubiquitous":[3],"in":[4,109],"daily":[5],"life.":[6],"In":[7],"this":[8],"paper,":[9],"we":[10,91,119],"present":[11],"DexSim2Real<inline-formula":[12],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[13],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[14],"notation=\"LaTeX\">$^{\\mathbf{2}}$</tex-math></inline-formula>,":[15],"a":[16,93,103,141,144],"novel":[17,94],"framework":[18,28],"for":[19,137],"goal-conditioned":[20],"articulated":[21,37],"object":[22,89,108],"manipulation.":[23,77],"The":[24,151],"core":[25],"of":[26,35,75,106,114,153],"our":[27],"is":[29],"constructing":[30],"an":[31,62,65],"explicit":[32,155],"world":[33,156],"model":[34,45,157],"unseen":[36],"through":[39],"active":[40],"interactions,":[41],"which":[42],"enables":[43,159],"sampling-based":[44],"predictive":[46],"control":[47],"to":[48,86,101,122],"plan":[49],"trajectories":[50],"achieving":[51],"different":[52],"goals":[53],"without":[54],"requiring":[55],"demonstrations":[56],"or":[57,73],"RL.":[58],"It":[59],"first":[60],"predicts":[61],"interaction":[63,71],"using":[64,140],"affordance":[66],"network":[67],"trained":[68],"on":[69,82,98],"self-supervised":[70],"data":[72],"videos":[74],"human":[76],"After":[78],"executing":[79],"the":[80,83,88,107,124,134,154],"interactions":[81],"real":[84],"robot":[85],"move":[87],"parts,":[90],"propose":[92],"modeling":[95],"pipeline":[96],"based":[97],"3D":[99],"AIGC":[100],"build":[102],"digital":[104],"twin":[105],"simulation":[110],"from":[111],"multiple":[112],"frames":[113],"observations.":[115],"For":[116],"dexterous":[117,149],"hands,":[118],"utilize":[120],"eigengrasp":[121],"reduce":[123],"action":[125],"dimension,":[126],"enabling":[127],"more":[128],"efficient":[129],"trajectory":[130],"searching.":[131],"Experiments":[132],"validate":[133],"framework's":[135],"effectiveness":[136],"precise":[138],"manipulation":[139,161],"suction":[142],"gripper,":[143],"two-finger":[145],"gripper":[146],"and":[147],"two":[148],"hands.":[150],"generalizability":[152],"also":[158],"advanced":[160],"strategies":[162],"like":[163],"manipulating":[164],"with":[165],"tools.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-02-06T02:01:19.302388","created_date":"2025-10-10T00:00:00"}
