{"id":"https://openalex.org/W3107417578","doi":"https://doi.org/10.1145/3414685.3417868","title":"Learning to manipulate amorphous materials","display_name":"Learning to manipulate amorphous materials","publication_year":2020,"publication_date":"2020-11-27","ids":{"openalex":"https://openalex.org/W3107417578","doi":"https://doi.org/10.1145/3414685.3417868","mag":"3107417578"},"language":"en","primary_location":{"id":"doi:10.1145/3414685.3417868","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3414685.3417868","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3414685.3417868","source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3414685.3417868","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101599138","display_name":"Yunbo Zhang","orcid":"https://orcid.org/0009-0009-3612-1203"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yunbo Zhang","raw_affiliation_strings":["Georgia Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015524477","display_name":"Wenhao Yu","orcid":"https://orcid.org/0000-0001-8263-8224"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenhao Yu","raw_affiliation_strings":["Georgia Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048338914","display_name":"C. Karen Liu","orcid":"https://orcid.org/0000-0001-5926-0905"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Karen Liu","raw_affiliation_strings":["Stanford University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041399015","display_name":"Charlie Kemp","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Charlie Kemp","raw_affiliation_strings":["Georgia Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067456877","display_name":"Greg Turk","orcid":"https://orcid.org/0000-0002-3419-6369"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Greg Turk","raw_affiliation_strings":["Georgia Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7492,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.84827832,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"39","issue":"6","first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","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/T12290","display_name":"Human Motion and Animation","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/T10812","display_name":"Human Pose and Action Recognition","score":0.9954000115394592,"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"}},{"id":"https://openalex.org/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/computer-science","display_name":"Computer science","score":0.5900075435638428},{"id":"https://openalex.org/keywords/animation","display_name":"Animation","score":0.5851194262504578},{"id":"https://openalex.org/keywords/scraper-site","display_name":"Scraper site","score":0.5625482797622681},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5375025272369385},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5024421215057373},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4711303412914276},{"id":"https://openalex.org/keywords/amorphous-solid","display_name":"Amorphous solid","score":0.466729998588562},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3833475410938263},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3727787733078003},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3363696038722992},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14332517981529236},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.10882985591888428}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5900075435638428},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.5851194262504578},{"id":"https://openalex.org/C78500136","wikidata":"https://www.wikidata.org/wiki/Q477840","display_name":"Scraper site","level":2,"score":0.5625482797622681},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5375025272369385},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5024421215057373},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4711303412914276},{"id":"https://openalex.org/C56052488","wikidata":"https://www.wikidata.org/wiki/Q103382","display_name":"Amorphous solid","level":2,"score":0.466729998588562},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3833475410938263},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3727787733078003},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3363696038722992},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14332517981529236},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.10882985591888428},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3414685.3417868","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3414685.3417868","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3414685.3417868","source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3414685.3417868","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3414685.3417868","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3414685.3417868","source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6462043478","display_name":null,"funder_award_id":"IIS-1514258","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6545472351","display_name":"RI: Medium: Robotic Assistance with Dressing using Simulation-Based Optimization","funder_award_id":"1514258","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1968976745","https://openalex.org/W1982920857","https://openalex.org/W2019165997","https://openalex.org/W2028098496","https://openalex.org/W2099332139","https://openalex.org/W2112961542","https://openalex.org/W2130353762","https://openalex.org/W2158782408","https://openalex.org/W2793955514","https://openalex.org/W2811435282","https://openalex.org/W2811441028","https://openalex.org/W2889759086","https://openalex.org/W2902539442","https://openalex.org/W2902791462","https://openalex.org/W2958043083","https://openalex.org/W2962758978","https://openalex.org/W2963504959","https://openalex.org/W2968042644","https://openalex.org/W2968116426","https://openalex.org/W2983150043","https://openalex.org/W3125723580","https://openalex.org/W4241602464","https://openalex.org/W4253948311"],"related_works":["https://openalex.org/W2018605163","https://openalex.org/W3110847770","https://openalex.org/W2144023833","https://openalex.org/W2384260346","https://openalex.org/W1535515478","https://openalex.org/W2972804606","https://openalex.org/W4241884751","https://openalex.org/W328673404","https://openalex.org/W2263146266","https://openalex.org/W2394054582"],"abstract_inverted_index":{"We":[0,61,124,142],"present":[1],"a":[2,44,49,53,57,80,108,144,153,168,171],"method":[3],"of":[4,8,20,87,104,162],"training":[5,76],"character":[6],"manipulation":[7,164],"amorphous":[9,21],"materials":[10,22,25,33,71,92],"such":[11,55,117,166],"as":[12,56,118,167],"those":[13],"often":[14],"used":[15],"in":[16,72,79],"cooking.":[17],"Common":[18],"examples":[19],"include":[23],"granular":[24],"(salt,":[26],"uncooked":[27],"rice),":[28],"fluids":[29],"(honey),":[30],"and":[31,112,120,140,156],"visco-plastic":[32],"(sticky":[34],"rice,":[35],"softened":[36],"butter).":[37],"A":[38],"typical":[39],"task":[40],"is":[41,77,101],"to":[42,65,69,89,93,132,151,158],"spread":[43],"given":[45,102],"material":[46,106],"out":[47,134],"across":[48],"flat":[50],"surface":[51],"using":[52,148],"tool":[54,165],"scraper":[58],"or":[59,170],"knife.":[60,123],"use":[62],"reinforcement":[63],"learning":[64],"train":[66],"our":[67],"controllers":[68],"manipulate":[70],"various":[73],"ways.":[74],"The":[75,96],"performed":[78],"physics":[81],"simulator":[82],"that":[83,127],"uses":[84],"position-based":[85],"dynamics":[86],"particles":[88],"simulate":[90],"the":[91,105,113,122,135,160,163],"be":[94],"manipulated.":[95],"neural":[97],"network":[98],"control":[99],"policy":[100,114],"observations":[103],"(e.g.":[107],"low-resolution":[109],"density":[110],"map),":[111],"outputs":[115],"actions":[116],"rotating":[119],"translating":[121],"demonstrate":[125],"policies":[126],"have":[128],"been":[129],"successfully":[130],"trained":[131],"carry":[133],"following":[136],"tasks:":[137],"spreading,":[138],"gathering,":[139],"flipping.":[141],"produce":[143],"final":[145],"animation":[146],"by":[147],"inverse":[149],"kinematics":[150],"guide":[152],"character's":[154],"arm":[155],"hand":[157],"match":[159],"motion":[161],"knife":[169],"frying":[172],"pan.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}