{"id":"https://openalex.org/W4390638096","doi":"https://doi.org/10.1177/02783649231225775","title":"Leveraging symmetries in pick and place","display_name":"Leveraging symmetries in pick and place","publication_year":2024,"publication_date":"2024-01-05","ids":{"openalex":"https://openalex.org/W4390638096","doi":"https://doi.org/10.1177/02783649231225775"},"language":"en","primary_location":{"id":"doi:10.1177/02783649231225775","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649231225775","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5102801550","display_name":"H. K. Huang","orcid":"https://orcid.org/0000-0001-8737-7959"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Haojie Huang","raw_affiliation_strings":["Khoury College of Computer Science, Northeastern University, Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8737-7959","affiliations":[{"raw_affiliation_string":"Khoury College of Computer Science, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100695036","display_name":"Dian Wang","orcid":"https://orcid.org/0000-0003-2521-3478"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dian Wang","raw_affiliation_strings":["Khoury College of Computer Science, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Khoury College of Computer Science, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043513300","display_name":"Arsh Tangri","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arsh Tangri","raw_affiliation_strings":["Khoury College of Computer Science, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Khoury College of Computer Science, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063254454","display_name":"Robin Walters","orcid":"https://orcid.org/0000-0002-9179-0321"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robin Walters","raw_affiliation_strings":["Khoury College of Computer Science, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Khoury College of Computer Science, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103163468","display_name":"Robert Platt","orcid":"https://orcid.org/0009-0001-2033-3473"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert Platt","raw_affiliation_strings":["Khoury College of Computer Science, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Khoury College of Computer Science, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102801550"],"corresponding_institution_ids":["https://openalex.org/I12912129"],"apc_list":null,"apc_paid":null,"fwci":1.8003,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.8371968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"43","issue":"4","first_page":"550","last_page":"571"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9921000003814697,"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":0.9879999756813049,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/homogeneous-space","display_name":"Homogeneous space","score":0.7697727680206299},{"id":"https://openalex.org/keywords/equivariant-map","display_name":"Equivariant map","score":0.7665697336196899},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6833484768867493},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6478983163833618},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6217943429946899},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5836898684501648},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5484739542007446},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.5133506655693054},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3904955983161926},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3640249967575073},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24073189496994019},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.17919600009918213},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.15903416275978088},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14465361833572388},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1358298361301422}],"concepts":[{"id":"https://openalex.org/C96469262","wikidata":"https://www.wikidata.org/wiki/Q1324364","display_name":"Homogeneous space","level":2,"score":0.7697727680206299},{"id":"https://openalex.org/C171036898","wikidata":"https://www.wikidata.org/wiki/Q256355","display_name":"Equivariant map","level":2,"score":0.7665697336196899},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6833484768867493},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6478983163833618},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6217943429946899},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5836898684501648},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5484739542007446},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.5133506655693054},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3904955983161926},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3640249967575073},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24073189496994019},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.17919600009918213},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.15903416275978088},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14465361833572388},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1358298361301422},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649231225775","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649231225775","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2913539538","display_name":null,"funder_award_id":"1763878","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5608864454","display_name":null,"funder_award_id":"80NSSC19K1474","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"},{"id":"https://openalex.org/G7403938920","display_name":null,"funder_award_id":"2107256","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G751904847","display_name":null,"funder_award_id":"1750649","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7997548555","display_name":null,"funder_award_id":"2134178","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8762325200","display_name":null,"funder_award_id":"1724257","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8913877384","display_name":null,"funder_award_id":"1724191","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"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1521162839","https://openalex.org/W1596185498","https://openalex.org/W1901129140","https://openalex.org/W2083624955","https://openalex.org/W2194775991","https://openalex.org/W2419056630","https://openalex.org/W2604382266","https://openalex.org/W2788862220","https://openalex.org/W2886499109","https://openalex.org/W2962746398","https://openalex.org/W2962793652","https://openalex.org/W2963033241","https://openalex.org/W3004136920","https://openalex.org/W3035235920","https://openalex.org/W3036642894","https://openalex.org/W3040477237","https://openalex.org/W3089793705","https://openalex.org/W3090584485","https://openalex.org/W3091677803","https://openalex.org/W3119044505","https://openalex.org/W3131115577","https://openalex.org/W3158545781","https://openalex.org/W3173991492","https://openalex.org/W3176751833","https://openalex.org/W3189699967","https://openalex.org/W3207181464","https://openalex.org/W4206644319","https://openalex.org/W4210700398","https://openalex.org/W4212774754","https://openalex.org/W4221161303","https://openalex.org/W4221167977","https://openalex.org/W4283787240","https://openalex.org/W4285102336","https://openalex.org/W4383108463","https://openalex.org/W4383108699","https://openalex.org/W4383109460","https://openalex.org/W6604545811","https://openalex.org/W6829254100"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2069360731"],"abstract_inverted_index":{"Robotic":[0],"pick":[1,27,36,68,107,142,150,156,186],"and":[2,9,18,69,108,110,143,146,151,157,166,187],"place":[3,21,49,54,59,70,109,144,152,158,188],"tasks":[4],"are":[5],"symmetric":[6],"under":[7],"translations":[8],"rotations":[10],"of":[11,91,114,198],"both":[12,141],"the":[13,19,26,34,48,52,58,101,162,175],"object":[14,28],"to":[15,140,154],"be":[16],"picked":[17],"desired":[20,53],"pose.":[22],"For":[23],"example,":[24],"if":[25,51],"is":[29,45,138,170],"rotated":[30],"or":[31,41],"translated,":[32],"then":[33,57],"optimal":[35],"action":[37,60],"should":[38,61],"also":[39,62],"rotate":[40],"translate.":[42],"The":[43,129],"same":[44],"true":[46],"for":[47],"pose;":[50],"pose":[55],"changes,":[56],"transform":[63],"accordingly.":[64],"A":[65],"recently":[66],"proposed":[67],"framework":[71],"known":[72],"as":[73],"Transporter":[74,120,136],"Net":[75,121],"(Zeng,":[76],"Florence,":[77],"Tompson,":[78],"Welker,":[79],"Chien,":[80],"Attarian,":[81],"Armstrong,":[82],"Krasin,":[83],"Duong,":[84],"Sindhwani":[85],"et":[86],"al.,":[87],"2021)":[88],"captures":[89,126],"some":[90],"these":[92],"symmetries,":[93],"but":[94],"not":[95],"all.":[96],"This":[97],"paper":[98],"analytically":[99],"studies":[100],"symmetries":[102,145],"present":[103],"in":[104,122,179],"planar":[105],"robotic":[106],"proposes":[111],"a":[112,123,180,196],"method":[113],"incorporating":[115],"equivariant":[116,139],"neural":[117],"models":[118],"into":[119],"way":[124],"that":[125,168,182],"all":[127],"symmetries.":[128],"new":[130,163],"model,":[131],"which":[132],"we":[133],"call":[134],"Equivariant":[135],"Net,":[137],"can":[147,183],"immediately":[148],"generalize":[149],"knowledge":[153],"different":[155],"poses.":[159],"We":[160],"evaluate":[161],"model":[164],"empirically":[165],"show":[167],"it":[169],"much":[171],"more":[172],"sample-efficient":[173],"than":[174],"non-symmetric":[176],"version,":[177],"resulting":[178],"system":[181],"imitate":[184],"demonstrated":[185],"behavior":[189],"using":[190],"very":[191],"few":[192],"human":[193],"demonstrations":[194],"on":[195],"variety":[197],"imitation":[199],"learning":[200],"tasks.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}