{"id":"https://openalex.org/W4400034095","doi":"https://doi.org/10.1126/scirobotics.adi8808","title":"SimPLE, a visuotactile method learned in simulation to precisely pick, localize, regrasp, and place objects","display_name":"SimPLE, a visuotactile method learned in simulation to precisely pick, localize, regrasp, and place objects","publication_year":2024,"publication_date":"2024-06-26","ids":{"openalex":"https://openalex.org/W4400034095","doi":"https://doi.org/10.1126/scirobotics.adi8808","pmid":"https://pubmed.ncbi.nlm.nih.gov/38924419"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adi8808","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adi8808","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","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/A5004820590","display_name":"Maria Bauz\u00e1","orcid":"https://orcid.org/0000-0002-8251-8019"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Maria Bauza","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019598787","display_name":"Antonia Bronars","orcid":"https://orcid.org/0000-0002-7675-1084"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Antonia Bronars","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033410023","display_name":"Yifan Hou","orcid":"https://orcid.org/0000-0001-8446-941X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yifan Hou","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017289996","display_name":"Ian Taylor","orcid":"https://orcid.org/0000-0002-0102-5993"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ian Taylor","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058244281","display_name":"Nikhil Chavan-Dafle","orcid":"https://orcid.org/0000-0002-9284-503X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikhil Chavan-Dafle","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100657503","display_name":"Alberto Rodr\u00edguez","orcid":"https://orcid.org/0000-0002-1119-4512"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alberto Rodriguez","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5004820590","https://openalex.org/A5019598787"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":10.5104,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.98881277,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"9","issue":"91","first_page":"eadi8808","last_page":"eadi8808"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.993399977684021,"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":0.9740999937057495,"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":0.6982690095901489},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6614015102386475},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6610108017921448},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5729572772979736},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5461394190788269},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5082947611808777},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4678049385547638},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.46244627237319946},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.42308205366134644},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.42289096117019653},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3330667018890381},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13370275497436523},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13180223107337952}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6982690095901489},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6614015102386475},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6610108017921448},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5729572772979736},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5461394190788269},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5082947611808777},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4678049385547638},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.46244627237319946},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.42308205366134644},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.42289096117019653},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3330667018890381},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13370275497436523},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13180223107337952},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.adi8808","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adi8808","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:38924419","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38924419","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":"Science robotics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.49000000953674316,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1497854254","https://openalex.org/W2132476906","https://openalex.org/W2194775991","https://openalex.org/W2203622306","https://openalex.org/W2295692686","https://openalex.org/W2737380187","https://openalex.org/W2762491123","https://openalex.org/W2768879211","https://openalex.org/W2775635818","https://openalex.org/W2891614462","https://openalex.org/W2910474428","https://openalex.org/W2925241625","https://openalex.org/W2956475343","https://openalex.org/W2963073614","https://openalex.org/W2963166883","https://openalex.org/W2963390419","https://openalex.org/W2966615203","https://openalex.org/W2970710335","https://openalex.org/W3003356397","https://openalex.org/W3008303301","https://openalex.org/W3012366945","https://openalex.org/W3035524453","https://openalex.org/W3036642894","https://openalex.org/W3090143443","https://openalex.org/W3090584485","https://openalex.org/W3100818121","https://openalex.org/W3119044505","https://openalex.org/W3131115577","https://openalex.org/W3131961798","https://openalex.org/W3138117074","https://openalex.org/W3176397544","https://openalex.org/W3186174046","https://openalex.org/W3192021195","https://openalex.org/W3201276757","https://openalex.org/W3201312429","https://openalex.org/W3203302482","https://openalex.org/W3203931644","https://openalex.org/W3204982605","https://openalex.org/W3205684050","https://openalex.org/W3217655018","https://openalex.org/W4210318229","https://openalex.org/W4312242724","https://openalex.org/W4312342945","https://openalex.org/W4383108538","https://openalex.org/W4383108759","https://openalex.org/W4386607259"],"related_works":["https://openalex.org/W1585007175","https://openalex.org/W2382521049","https://openalex.org/W2144385241","https://openalex.org/W4300101996","https://openalex.org/W2165950148","https://openalex.org/W4253593777","https://openalex.org/W2951497643","https://openalex.org/W1508899372","https://openalex.org/W2142393343","https://openalex.org/W2012658348"],"abstract_inverted_index":{"Existing":[0],"robotic":[1,13],"systems":[2],"have":[3],"a":[4,25,87,148,158,167,173,177,183,202],"tension":[5],"between":[6],"generality":[7],"and":[8,48,51,56,84,92,99,108,121,134,193,207,227],"precision.":[9,41],"Deployed":[10],"solutions":[11,45],"for":[12,46,224,234],"manipulation":[14],"tend":[15],"to":[16,34,81,89,96,136,156],"fall":[17],"into":[18,68,212],"the":[19,32,60,103,222,232],"paradigm":[20],"of":[21,66,128,150,160,179,195,205,221,231],"one":[22],"robot":[23,61,185],"solving":[24,172],"single":[26],"task,":[27],"lacking":[28],"\"precise":[29],"generalization,\"":[30],"or":[31,58],"ability":[33],"solve":[35],"many":[36],"tasks":[37],"without":[38],"compromising":[39],"on":[40,143,176],"This":[42],"paper":[43],"explores":[44],"precise":[47,54,90],"general":[49],"pick":[50,55,91,192],"place.":[52,93],"In":[53],"place,":[57],"kitting,":[59],"transforms":[62],"an":[63,69],"unstructured":[64],"arrangement":[65],"objects":[67,101,200,226],"organized":[70],"arrangement,":[71],"which":[72],"can":[73],"facilitate":[74],"further":[75],"manipulation.":[76],"We":[77,112],"propose":[78],"SimPLE":[79,94,190,208],"(Simulation":[80],"Pick":[82],"Localize":[83],"placE)":[85],"as":[86],"solution":[88],"learns":[95],"pick,":[97],"regrasp,":[98],"place":[100,194],"given":[102],"object's":[104],"computer-aided":[105],"design":[106],"model":[107,141],"no":[109],"prior":[110],"experience.":[111],"developed":[113],"three":[114],"main":[115],"components:":[116],"task-aware":[117],"grasping,":[118],"visuotactile":[119,139,188],"perception,":[120],"regrasp":[122],"planning.":[123],"Task-aware":[124],"grasping":[125],"computes":[126],"affordances":[127],"grasps":[129],"that":[130],"are":[131],"stable,":[132],"observable,":[133],"favorable":[135],"placing.":[137],"The":[138,199],"perception":[140],"relies":[142],"matching":[144],"real":[145],"observations":[146],"against":[147],"set":[149],"simulated":[151],"ones":[152],"through":[153],"supervised":[154],"learning":[155],"estimate":[157],"distribution":[159],"likely":[161],"object":[162],"poses.":[163],"Last,":[164],"we":[165],"computed":[166],"multistep":[168],"pick-and-place":[169],"plan":[170],"by":[171],"shortest-path":[174],"problem":[175],"graph":[178],"hand-to-hand":[180],"regrasps.":[181],"On":[182],"dual-arm":[184],"equipped":[186],"with":[187,215],"sensing,":[189],"demonstrated":[191],"15":[196],"diverse":[197],"objects.":[198,236],"spanned":[201],"wide":[203],"range":[204],"shapes,":[206],"achieved":[209],"successful":[210],"placements":[211],"structured":[213],"arrangements":[214],"1-mm":[216],"clearance":[217],"more":[218,228],"than":[219,229],"90%":[220],"time":[223,233],"six":[225],"80%":[230],"11":[235]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":7}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
