{"id":"https://openalex.org/W4387406338","doi":"https://doi.org/10.3389/fnbot.2023.1280773","title":"Vision-force-fused curriculum learning for robotic contact-rich assembly tasks","display_name":"Vision-force-fused curriculum learning for robotic contact-rich assembly tasks","publication_year":2023,"publication_date":"2023-10-06","ids":{"openalex":"https://openalex.org/W4387406338","doi":"https://doi.org/10.3389/fnbot.2023.1280773","pmid":"https://pubmed.ncbi.nlm.nih.gov/37867617"},"language":"en","primary_location":{"id":"doi:10.3389/fnbot.2023.1280773","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2023.1280773","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2023.1280773/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2023.1280773/pdf?isPublishedV2=False","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102950989","display_name":"Piaopiao Jin","orcid":"https://orcid.org/0000-0003-1714-8397"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Piaopiao Jin","raw_affiliation_strings":["Department of Engineering Mechanics, Center for X-Mechanics, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Mechanics, Center for X-Mechanics, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025766432","display_name":"Yinjie Lin","orcid":"https://orcid.org/0000-0002-0569-1635"},"institutions":[{"id":"https://openalex.org/I4401727007","display_name":"Hikvision (China)","ror":"https://ror.org/02jzypx27","country_code":null,"type":"company","lineage":["https://openalex.org/I4401727007"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinjie Lin","raw_affiliation_strings":["Hikvision Digital Technology Company, Ltd., Hangzhou, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hikvision Digital Technology Company, Ltd., Hangzhou, Zhejiang, China","institution_ids":["https://openalex.org/I4401727007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026663768","display_name":"Yaoxian Song","orcid":"https://orcid.org/0000-0002-8146-2236"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoxian Song","raw_affiliation_strings":["Department of Engineering Mechanics, Center for X-Mechanics, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Mechanics, Center for X-Mechanics, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059707823","display_name":"Tiefeng Li","orcid":"https://orcid.org/0000-0002-6100-9266"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tiefeng Li","raw_affiliation_strings":["Department of Engineering Mechanics, Center for X-Mechanics, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Mechanics, Center for X-Mechanics, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100613526","display_name":"Wei Yang","orcid":"https://orcid.org/0000-0002-6430-0622"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Yang","raw_affiliation_strings":["Department of Engineering Mechanics, Center for X-Mechanics, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Mechanics, Center for X-Mechanics, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5059707823"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":2950,"currency":"USD","value_usd":2950},"apc_paid":{"value":2950,"currency":"USD","value_usd":2950},"fwci":3.4944,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.9309978,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"17","issue":null,"first_page":"1280773","last_page":"1280773"},"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":0.9944999814033508,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/fuse","display_name":"Fuse (electrical)","score":0.8012634515762329},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7975740432739258},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6367841958999634},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6041186451911926},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5688027143478394},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5478616952896118},{"id":"https://openalex.org/keywords/relevance","display_name":"Relevance (law)","score":0.5004115104675293},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4704289436340332},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4508568346500397},{"id":"https://openalex.org/keywords/curriculum","display_name":"Curriculum","score":0.4106801152229309},{"id":"https://openalex.org/keywords/active-perception","display_name":"Active perception","score":0.4101364314556122},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34065330028533936},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33981460332870483},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32194656133651733},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08773046731948853},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07924234867095947}],"concepts":[{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.8012634515762329},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7975740432739258},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6367841958999634},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6041186451911926},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5688027143478394},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5478616952896118},{"id":"https://openalex.org/C158154518","wikidata":"https://www.wikidata.org/wiki/Q7310970","display_name":"Relevance (law)","level":2,"score":0.5004115104675293},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4704289436340332},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4508568346500397},{"id":"https://openalex.org/C47177190","wikidata":"https://www.wikidata.org/wiki/Q207137","display_name":"Curriculum","level":2,"score":0.4106801152229309},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.4101364314556122},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34065330028533936},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33981460332870483},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32194656133651733},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08773046731948853},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07924234867095947},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/fnbot.2023.1280773","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2023.1280773","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2023.1280773/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},{"id":"pmid:37867617","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37867617","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":"Frontiers in neurorobotics","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10590057","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10590057","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10590057/pdf/fnbot-17-1280773.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Neurorobot","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:bb4ad4167f8e470ab3785b5dbe09c562","is_oa":true,"landing_page_url":"https://doaj.org/article/bb4ad4167f8e470ab3785b5dbe09c562","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Neurorobotics, Vol 17 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/fnbot.2023.1280773","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2023.1280773","pdf_url":"https://www.frontiersin.org/articles/10.3389/fnbot.2023.1280773/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3296211439","display_name":null,"funder_award_id":"T2125009","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4354077786","display_name":null,"funder_award_id":"2023C03007","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7389251582","display_name":null,"funder_award_id":"92048302","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4387406338.pdf"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1938885652","https://openalex.org/W1978023077","https://openalex.org/W2008731016","https://openalex.org/W2016958754","https://openalex.org/W2112474089","https://openalex.org/W2126909264","https://openalex.org/W2158782408","https://openalex.org/W2194775991","https://openalex.org/W2296073425","https://openalex.org/W2553722312","https://openalex.org/W2567455162","https://openalex.org/W2736601468","https://openalex.org/W2927638312","https://openalex.org/W2963940579","https://openalex.org/W2968268581","https://openalex.org/W2990747716","https://openalex.org/W3000351149","https://openalex.org/W3012366945","https://openalex.org/W3032216251","https://openalex.org/W3131959844","https://openalex.org/W3133114212","https://openalex.org/W3134664367","https://openalex.org/W3137030294","https://openalex.org/W3148741757","https://openalex.org/W3172612671","https://openalex.org/W3183165777","https://openalex.org/W3205950068","https://openalex.org/W4205617436","https://openalex.org/W4285102473","https://openalex.org/W4286907972","https://openalex.org/W4313033336","https://openalex.org/W4360898385","https://openalex.org/W4383108587","https://openalex.org/W4383109513","https://openalex.org/W4387146095","https://openalex.org/W6640220933","https://openalex.org/W6754931824","https://openalex.org/W6755561334","https://openalex.org/W6759636314","https://openalex.org/W6764800732","https://openalex.org/W6785308759","https://openalex.org/W6785538922","https://openalex.org/W6798485980","https://openalex.org/W6804960562","https://openalex.org/W6966558720"],"related_works":["https://openalex.org/W2354322770","https://openalex.org/W3000097931","https://openalex.org/W4237547500","https://openalex.org/W1570848052","https://openalex.org/W2373192430","https://openalex.org/W4239268388","https://openalex.org/W1537496349","https://openalex.org/W2379407973","https://openalex.org/W4243305035","https://openalex.org/W2079488604"],"abstract_inverted_index":{"Contact-rich":[0],"robotic":[1],"manipulation":[2],"tasks":[3],"such":[4],"as":[5],"assembly":[6],"are":[7],"widely":[8],"studied":[9],"due":[10],"to":[11,26,36,48,58,88,103],"their":[12],"close":[13],"relevance":[14],"with":[15,79],"social":[16],"and":[17,28,50,63,92,95,110,119],"manufacturing":[18],"industries.":[19],"Although":[20],"the":[21,39,61,70,84,108],"task":[22],"is":[23,86],"highly":[24],"related":[25],"vision":[27],"force,":[29],"current":[30],"methods":[31],"lack":[32],"a":[33,52],"unified":[34],"mechanism":[35],"effectively":[37,59],"fuse":[38,60],"two":[40],"sensors.":[41],"We":[42],"consider":[43],"coordinating":[44],"multimodality":[45],"from":[46,101],"perception":[47],"control":[49],"propose":[51],"vision-force":[53],"curriculum":[54],"policy":[55],"learning":[56],"scheme":[57],"features":[62],"generate":[64],"policy.":[65],"Experiments":[66],"in":[67],"simulations":[68],"indicate":[69],"priorities":[71],"of":[72,112],"our":[73,113],"method,":[74],"which":[75],"could":[76],"insert":[77],"pegs":[78],"0.1":[80],"mm":[81],"clearance.":[82],"Furthermore,":[83],"system":[85],"generalizable":[87],"various":[89],"initial":[90],"configurations":[91],"unseen":[93],"shapes,":[94],"it":[96],"can":[97],"be":[98,122],"robustly":[99],"transferred":[100],"simulation":[102],"reality":[104],"without":[105],"fine-tuning,":[106],"showing":[107],"effectiveness":[109],"generalization":[111],"proposed":[114],"method.":[115],"The":[116],"experiment":[117],"videos":[118],"code":[120],"will":[121],"available":[123],"at":[124],"https://sites.google.com/view/vf-assembly.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
