{"id":"https://openalex.org/W4411230144","doi":"https://doi.org/10.1177/02783649251344638","title":"Robust contact-rich manipulation through implicit motor adaptation","display_name":"Robust contact-rich manipulation through implicit motor adaptation","publication_year":2025,"publication_date":"2025-06-12","ids":{"openalex":"https://openalex.org/W4411230144","doi":"https://doi.org/10.1177/02783649251344638"},"language":"en","primary_location":{"id":"doi:10.1177/02783649251344638","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649251344638","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/A5101025180","display_name":"Teng Xue","orcid":"https://orcid.org/0009-0001-7414-3958"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Teng Xue","raw_affiliation_strings":["Idiap Research Institute","\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)","Idiap Research Institute, Martigny, Switzerland","\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0009-0001-7414-3958","affiliations":[{"raw_affiliation_string":"Idiap Research Institute","institution_ids":["https://openalex.org/I7495430"]},{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]},{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049327938","display_name":"Amirreza Razmjoo","orcid":"https://orcid.org/0000-0003-3826-6608"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Amirreza Razmjoo","raw_affiliation_strings":["Idiap Research Institute","\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)","\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","Idiap Research Institute, Martigny, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-3826-6608","affiliations":[{"raw_affiliation_string":"Idiap Research Institute","institution_ids":["https://openalex.org/I7495430"]},{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014991145","display_name":"Suhan Shetty","orcid":"https://orcid.org/0000-0002-7550-9368"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Suhan Shetty","raw_affiliation_strings":["Idiap Research Institute","\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)","\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","Idiap Research Institute, Martigny, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-7550-9368","affiliations":[{"raw_affiliation_string":"Idiap Research Institute","institution_ids":["https://openalex.org/I7495430"]},{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["Idiap Research Institute","\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)","Idiap Research Institute, Martigny, Switzerland","\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-9036-6799","affiliations":[{"raw_affiliation_string":"Idiap Research Institute","institution_ids":["https://openalex.org/I7495430"]},{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL)","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]},{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101025180"],"corresponding_institution_ids":["https://openalex.org/I5124864","https://openalex.org/I7495430"],"apc_list":null,"apc_paid":null,"fwci":0.9759,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.7581548,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"45","issue":"1","first_page":"41","last_page":"59"},"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/T10982","display_name":"Motor Control and Adaptation","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9965000152587891,"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/computer-science","display_name":"Computer science","score":0.5099643468856812},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41788220405578613},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4124716818332672},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40993502736091614},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3787660300731659},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.301861047744751},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.2790711522102356},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.15194299817085266},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12965896725654602}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5099643468856812},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41788220405578613},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4124716818332672},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40993502736091614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3787660300731659},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.301861047744751},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.2790711522102356},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.15194299817085266},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12965896725654602}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649251344638","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649251344638","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/G3065957153","display_name":null,"funder_award_id":"202106230104","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"},{"id":"https://openalex.org/G4785223687","display_name":"AI-Powered Manipulation System for Advanced Robotic Service, Manufacturing and Prosthetics","funder_award_id":"101070136","funder_id":"https://openalex.org/F4320338444","funder_display_name":"HORIZON EUROPE Digital, Industry and Space"},{"id":"https://openalex.org/G5167181736","display_name":"Physical Cognition for Intelligent Control and Safe Human-Robot Interaction","funder_award_id":"101070310","funder_id":"https://openalex.org/F4320338444","funder_display_name":"HORIZON EUROPE Digital, Industry and Space"}],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320338444","display_name":"HORIZON EUROPE Digital, Industry and Space","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1591566337","https://openalex.org/W1977655452","https://openalex.org/W1993482030","https://openalex.org/W2001518794","https://openalex.org/W2003677943","https://openalex.org/W2010072864","https://openalex.org/W2016095551","https://openalex.org/W2016211524","https://openalex.org/W2028573274","https://openalex.org/W2050708324","https://openalex.org/W2073787051","https://openalex.org/W2098030884","https://openalex.org/W2107726111","https://openalex.org/W2161914416","https://openalex.org/W2166302491","https://openalex.org/W2408464251","https://openalex.org/W2420367108","https://openalex.org/W2487144912","https://openalex.org/W2551156993","https://openalex.org/W2605102758","https://openalex.org/W2767050701","https://openalex.org/W2887990573","https://openalex.org/W2904511170","https://openalex.org/W2962787969","https://openalex.org/W2962899390","https://openalex.org/W2963614114","https://openalex.org/W2963906246","https://openalex.org/W2968116426","https://openalex.org/W2972864268","https://openalex.org/W3012366945","https://openalex.org/W3024987186","https://openalex.org/W3032792332","https://openalex.org/W3036167779","https://openalex.org/W3044175123","https://openalex.org/W3090612618","https://openalex.org/W3093922502","https://openalex.org/W3101442004","https://openalex.org/W3103945605","https://openalex.org/W3104876774","https://openalex.org/W3175254947","https://openalex.org/W3213472335","https://openalex.org/W3216772467","https://openalex.org/W4211008118","https://openalex.org/W4214902667","https://openalex.org/W4256152864","https://openalex.org/W4256153703","https://openalex.org/W4283362361","https://openalex.org/W4285601030","https://openalex.org/W4288374418","https://openalex.org/W4312760748","https://openalex.org/W4383097672","https://openalex.org/W4386090379","https://openalex.org/W4386746699","https://openalex.org/W4387195417","https://openalex.org/W4388319978","https://openalex.org/W4389194043","https://openalex.org/W4401417048","https://openalex.org/W4402354001","https://openalex.org/W4403337227","https://openalex.org/W6683825394","https://openalex.org/W6729942461","https://openalex.org/W6779823529","https://openalex.org/W6839378343"],"related_works":["https://openalex.org/W2997567050","https://openalex.org/W1982160337","https://openalex.org/W1483272040","https://openalex.org/W1971380437","https://openalex.org/W4283377908","https://openalex.org/W1526712007","https://openalex.org/W1533421371","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987"],"abstract_inverted_index":{"Contact-rich":[0],"manipulation":[1,108,201],"plays":[2],"an":[3,144],"important":[4],"role":[5],"in":[6,106],"daily":[7],"human":[8],"activities.":[9],"However,":[10,87],"uncertain":[11],"physical":[12,112],"parameters":[13,74],"often":[14],"pose":[15],"significant":[16],"challenges":[17],"for":[18,171],"both":[19,101],"planning":[20],"and":[21,41,76,175,182,205],"control.":[22],"A":[23],"promising":[24],"strategy":[25],"is":[26],"to":[27,50,54,61,190,211],"develop":[28],"policies":[29,214],"that":[30],"are":[31,44,104],"robust":[32,213],"across":[33,215],"a":[34,83,98,129,136,187],"wide":[35],"range":[36],"of":[37,97,102,135,147,154,163],"parameters.":[38,113],"Domain":[39],"adaptation":[40,67,121],"domain":[42],"randomization":[43],"widely":[45],"used,":[46],"but":[47],"they":[48],"tend":[49],"either":[51],"limit":[52],"generalization":[53],"new":[55],"instances":[56],"or":[57,94],"perform":[58],"conservatively":[59],"due":[60],"neglecting":[62],"instance-specific":[63],"information.":[64],"Explicit":[65],"motor":[66,120],"addresses":[68],"these":[69],"issues":[70],"by":[71,158,195],"estimating":[72],"system":[73,92,173],"online":[75],"then":[77],"retrieving":[78],"the":[79,148,155,160,169,192],"parameter-conditioned":[80,125,156],"policy":[81,126,157,176],"from":[82],"parameter-augmented":[84],"base":[85,149],"policy.":[86],"it":[88],"typically":[89],"requires":[90],"precise":[91,172],"identification":[93],"additional":[95],"training":[96],"student":[99],"policy,":[100,150],"which":[103,123],"challenging":[105],"contact-rich":[107,200],"tasks":[109],"with":[110],"diverse":[111,216],"In":[114],"this":[115],"work,":[116],"we":[117],"propose":[118],"implicit":[119,145],",":[122],"enables":[124],"retrieval":[127,153],"given":[128],"roughly":[130],"estimated":[131],"parameter":[132],"distribution":[133],"instead":[134],"single":[137],"estimate.":[138],"We":[139,185],"leverage":[140],"tensor":[141,164],"train":[142],"as":[143],"representation":[146],"facilitating":[151],"efficient":[152],"exploiting":[159],"separable":[161],"structure":[162],"cores.":[165],"This":[166],"framework":[167],"eliminates":[168],"need":[170],"estimation":[174],"retraining":[177],"while":[178],"preserving":[179],"optimal":[180],"behavior":[181],"strong":[183],"generalization.":[184],"provide":[186],"theoretical":[188],"analysis":[189],"validate":[191],"approach,":[193],"supported":[194],"numerical":[196],"evaluations":[197],"on":[198],"three":[199],"primitives.":[202],"Both":[203],"simulation":[204],"real-world":[206],"experiments":[207],"demonstrate":[208],"its":[209],"ability":[210],"generate":[212],"instances.":[217],"Project":[218],"website:":[219],"https://sites.google.com/view/implicit-ma":[220],".":[221]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}