{"id":"https://openalex.org/W4399213366","doi":"https://doi.org/10.1145/3639477.3639740","title":"Towards Building AI-CPS with NVIDIA Isaac Sim: An Industrial Benchmark and Case Study for Robotics Manipulation","display_name":"Towards Building AI-CPS with NVIDIA Isaac Sim: An Industrial Benchmark and Case Study for Robotics Manipulation","publication_year":2024,"publication_date":"2024-04-14","ids":{"openalex":"https://openalex.org/W4399213366","doi":"https://doi.org/10.1145/3639477.3639740"},"language":"en","primary_location":{"id":"doi:10.1145/3639477.3639740","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3639477.3639740","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3639477.3639740","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 46th International Conference on Software Engineering: Software Engineering in Practice","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3639477.3639740","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026971084","display_name":"Zhehua Zhou","orcid":"https://orcid.org/0000-0001-9542-4858"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Zhehua Zhou","raw_affiliation_strings":["University of Alberta, Edmonton, Canada"],"raw_orcid":"https://orcid.org/0000-0001-9542-4858","affiliations":[{"raw_affiliation_string":"University of Alberta, Edmonton, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104291087","display_name":"Jiayang Song","orcid":"https://orcid.org/0009-0008-7093-9781"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jiayang Song","raw_affiliation_strings":["University of Alberta, Edmonton, Canada"],"raw_orcid":"https://orcid.org/0009-0008-7093-9781","affiliations":[{"raw_affiliation_string":"University of Alberta, Edmonton, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034067129","display_name":"Xuan Xie","orcid":"https://orcid.org/0000-0003-3981-8515"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xuan Xie","raw_affiliation_strings":["University of Alberta, Edmonton, Canada"],"raw_orcid":"https://orcid.org/0000-0003-3981-8515","affiliations":[{"raw_affiliation_string":"University of Alberta, Edmonton, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101561346","display_name":"Zhan Shu","orcid":"https://orcid.org/0000-0002-5933-254X"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Zhan Shu","raw_affiliation_strings":["University of Alberta, Edmonton, Canada"],"raw_orcid":"https://orcid.org/0000-0002-5933-254X","affiliations":[{"raw_affiliation_string":"University of Alberta, Edmonton, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101468661","display_name":"Lei Ma","orcid":"https://orcid.org/0000-0002-8621-2420"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]},{"id":"https://openalex.org/I161945134","display_name":"Tokyo Fuji University","ror":"https://ror.org/01etn5q21","country_code":"JP","type":"education","lineage":["https://openalex.org/I161945134"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["CA","JP"],"is_corresponding":false,"raw_author_name":"Lei Ma","raw_affiliation_strings":["The University of Tokyo, Tokyo, Japan","University of Alberta, Edmonton, Canada","The University of Tokyo, Tokyo, Japan University of Alberta, Edmonton, Canada"],"raw_orcid":"https://orcid.org/0000-0002-8621-2420","affiliations":[{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"University of Alberta, Edmonton, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan University of Alberta, Edmonton, Canada","institution_ids":["https://openalex.org/I161945134","https://openalex.org/I74801974","https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102773196","display_name":"Dikai Liu","orcid":"https://orcid.org/0000-0001-9398-2100"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dikai Liu","raw_affiliation_strings":["NVIDIA AI Tech Centre, Santa Clara, California, USA"],"raw_orcid":"https://orcid.org/0000-0001-9398-2100","affiliations":[{"raw_affiliation_string":"NVIDIA AI Tech Centre, Santa Clara, California, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019182457","display_name":"Jianxiong Yin","orcid":"https://orcid.org/0000-0003-4686-2768"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jianxiong Yin","raw_affiliation_strings":["NVIDIA AI Tech Centre, Santa Clara, California, USA"],"raw_orcid":"https://orcid.org/0000-0003-4686-2768","affiliations":[{"raw_affiliation_string":"NVIDIA AI Tech Centre, Santa Clara, California, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077539496","display_name":"Simon See","orcid":"https://orcid.org/0000-0002-4958-9237"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Simon See","raw_affiliation_strings":["NVIDIA AI Tech Centre, Santa Clara, California, USA"],"raw_orcid":"https://orcid.org/0000-0002-4958-9237","affiliations":[{"raw_affiliation_string":"NVIDIA AI Tech Centre, Santa Clara, California, USA","institution_ids":["https://openalex.org/I4210127875"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5026971084"],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":9.6184,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.98658302,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"263","last_page":"274"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9984999895095825,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976000189781189,"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/benchmark","display_name":"Benchmark (surveying)","score":0.8057599663734436},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7463017106056213},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6469802856445312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5679380297660828},{"id":"https://openalex.org/keywords/computer-architecture","display_name":"Computer architecture","score":0.3524450957775116},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31700241565704346},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.06646543741226196}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.8057599663734436},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7463017106056213},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6469802856445312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5679380297660828},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.3524450957775116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31700241565704346},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.06646543741226196},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3639477.3639740","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3639477.3639740","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3639477.3639740","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 46th International Conference on Software Engineering: Software Engineering in Practice","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3639477.3639740","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3639477.3639740","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3639477.3639740","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 46th International Conference on Software Engineering: Software Engineering in Practice","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4399213366.pdf"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1662203549","https://openalex.org/W2037465995","https://openalex.org/W2065682774","https://openalex.org/W2148569971","https://openalex.org/W2156652273","https://openalex.org/W2158782408","https://openalex.org/W2167340365","https://openalex.org/W2169369819","https://openalex.org/W2206222117","https://openalex.org/W2282472744","https://openalex.org/W2543296129","https://openalex.org/W2759950027","https://openalex.org/W2765905728","https://openalex.org/W2783963507","https://openalex.org/W2789539638","https://openalex.org/W2789839425","https://openalex.org/W2792705209","https://openalex.org/W2962692913","https://openalex.org/W2963003663","https://openalex.org/W2964222556","https://openalex.org/W3003257820","https://openalex.org/W3005798847","https://openalex.org/W3048356206","https://openalex.org/W3090137276","https://openalex.org/W3099587965","https://openalex.org/W3100789280","https://openalex.org/W3119315021","https://openalex.org/W3150631816","https://openalex.org/W3173446233","https://openalex.org/W3212210003","https://openalex.org/W4220663349","https://openalex.org/W4223929614","https://openalex.org/W4225627334","https://openalex.org/W4288391571","https://openalex.org/W4293243668","https://openalex.org/W4311411307","https://openalex.org/W4367016230"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W2745001401","https://openalex.org/W4233452137","https://openalex.org/W4254857216","https://openalex.org/W4231626925","https://openalex.org/W2962829499","https://openalex.org/W2767518918","https://openalex.org/W2131444840","https://openalex.org/W2414929284","https://openalex.org/W192849109"],"abstract_inverted_index":{"As":[0,83],"a":[1,25,73,84,98,143,207],"representative":[2,116],"cyber-physical":[3],"system":[4,78],"(CPS),":[5],"robotic":[6],"manipulators":[7],"have":[8,40],"been":[9],"widely":[10],"adopted":[11],"in":[12,37,93,137,191,227,233],"various":[13],"academic":[14,236],"research":[15,232],"and":[16,31,53,65,80,119,180,212,223,237,244],"industrial":[17,238],"processes,":[18],"indicating":[19],"their":[20,148],"potential":[21],"to":[22,49,67,130,225],"act":[23],"as":[24,47,110],"universal":[26],"interface":[27],"between":[28,176],"the":[29,32,56,111,132,153,161,174,210],"cyber":[30],"physical":[33,197],"worlds.":[34],"Recent":[35],"studies":[36],"robotics":[38,70,91,102,139,194,216],"manipulation":[39,117,140,195],"started":[41],"employing":[42],"artificial":[43],"intelligence":[44],"(AI)":[45],"approaches":[46],"controllers":[48,136],"achieve":[50],"better":[51],"adaptability":[52],"performance.":[54],"However,":[55],"inherent":[57],"challenge":[58],"of":[59,134,147,155,187,214],"explaining":[60],"AI":[61,121,135],"components":[62],"introduces":[63],"uncertainty":[64],"unreliability":[66],"these":[68],"AI-enabled":[69,90,193,215],"systems,":[71,92],"necessitating":[72],"reliable":[74,89],"development":[75,213],"platform":[76],"for":[77,101,209],"design":[79,211],"performance":[81,133],"assessment.":[82],"foundational":[85],"step":[86],"towards":[87],"building":[88],"this":[94,228,234],"paper,":[95],"we":[96,158],"propose":[97],"public":[99],"benchmark":[100],"manipulation.":[103],"It":[104],"leverages":[105],"NVIDIA":[106],"Omniverse":[107],"Isaac":[108,169],"Sim":[109],"simulation":[112],"platform,":[113],"encompassing":[114],"eight":[115],"tasks":[118],"multiple":[120],"software":[122],"controllers.":[123],"An":[124],"extensive":[125],"empirical":[126],"evaluation":[127,246],"is":[128,166,199],"conducted":[129],"analyze":[131],"solving":[138],"tasks,":[141],"enabling":[142],"relatively":[144],"thorough":[145],"understanding":[146],"effectiveness.":[149],"To":[150],"further":[151,231],"demonstrate":[152],"applicability":[154],"our":[156],"benchmark,":[157],"also":[159,200,219],"developed":[160],"first":[162],"falsification":[163,178],"framework":[164,172],"that":[165],"compatible":[167],"with":[168,196],"Sim.":[170],"This":[171],"bridges":[173],"gap":[175],"traditional":[177],"methods":[179,190],"modern":[181],"physics":[182],"engine-based":[183],"simulations.":[184],"The":[185,240],"effectiveness":[186],"different":[188],"optimization":[189],"falsifying":[192],"simulators":[198],"examined.":[201],"Our":[202],"work":[203],"not":[204],"only":[205],"establishes":[206],"foundation":[208],"systems":[217],"but":[218],"provides":[220],"practical":[221],"experience":[222],"guidance":[224],"practitioners":[226],"field,":[229],"promoting":[230],"critical":[235],"domain.":[239],"benchmarks,":[241],"source":[242],"code,":[243],"detailed":[245],"results":[247],"are":[248],"available":[249],"at":[250],"https://sites.google.com/view/ai-cps-robotics-manipulation/home.":[251]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2024-06-01T00:00:00"}