{"id":"https://openalex.org/W4416736892","doi":"https://doi.org/10.3390/robotics14120175","title":"SCARA Assembly AI: The Synthetic Learning-Based Method of Component-to-Slot Assignment with Permutation-Invariant Transformers for SCARA Robot Assembly","display_name":"SCARA Assembly AI: The Synthetic Learning-Based Method of Component-to-Slot Assignment with Permutation-Invariant Transformers for SCARA Robot Assembly","publication_year":2025,"publication_date":"2025-11-27","ids":{"openalex":"https://openalex.org/W4416736892","doi":"https://doi.org/10.3390/robotics14120175"},"language":"en","primary_location":{"id":"doi:10.3390/robotics14120175","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14120175","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/robotics14120175","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023646186","display_name":"Tibor P\u00e9ter Kapusi","orcid":"https://orcid.org/0000-0002-8183-2516"},"institutions":[{"id":"https://openalex.org/I132735039","display_name":"University of Debrecen","ror":"https://ror.org/02xf66n48","country_code":"HU","type":"education","lineage":["https://openalex.org/I132735039"]}],"countries":["HU"],"is_corresponding":true,"raw_author_name":"Tibor P\u00e9ter Kapusi","raw_affiliation_strings":["Department of Data Science and Visualization, Faculty of Informatics, University of Debrecen, Kassai Str. 26, 4028 Debrecen, Hungary"],"raw_orcid":"https://orcid.org/0000-0002-8183-2516","affiliations":[{"raw_affiliation_string":"Department of Data Science and Visualization, Faculty of Informatics, University of Debrecen, Kassai Str. 26, 4028 Debrecen, Hungary","institution_ids":["https://openalex.org/I132735039"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056640588","display_name":"Timotei Istv\u00e1n Erdei","orcid":"https://orcid.org/0000-0001-6303-5946"},"institutions":[{"id":"https://openalex.org/I132735039","display_name":"University of Debrecen","ror":"https://ror.org/02xf66n48","country_code":"HU","type":"education","lineage":["https://openalex.org/I132735039"]}],"countries":["HU"],"is_corresponding":true,"raw_author_name":"Timotei Istv\u00e1n Erdei","raw_affiliation_strings":["Department of Vehicles Engineering, Faculty of Engineering, University of Debrecen, \u00d3temet\u0151 Str. 2-4, 4028 Debrecen, Hungary","Department of Vehicles Engineering, Faculty of Engineering, University of Debrecen, \u00d3temet\u0151 Str. 2\u20134, 4028 Debrecen, Hungary"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Vehicles Engineering, Faculty of Engineering, University of Debrecen, \u00d3temet\u0151 Str. 2-4, 4028 Debrecen, Hungary","institution_ids":["https://openalex.org/I132735039"]},{"raw_affiliation_string":"Department of Vehicles Engineering, Faculty of Engineering, University of Debrecen, \u00d3temet\u0151 Str. 2\u20134, 4028 Debrecen, Hungary","institution_ids":["https://openalex.org/I132735039"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085903777","display_name":"Masuk Abdullah","orcid":"https://orcid.org/0000-0002-9330-1026"},"institutions":[{"id":"https://openalex.org/I132735039","display_name":"University of Debrecen","ror":"https://ror.org/02xf66n48","country_code":"HU","type":"education","lineage":["https://openalex.org/I132735039"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Masuk Abdullah","raw_affiliation_strings":["Department of Vehicles Engineering, Faculty of Engineering, University of Debrecen, \u00d3temet\u0151 Str. 2-4, 4028 Debrecen, Hungary","Department of Vehicles Engineering, Faculty of Engineering, University of Debrecen, \u00d3temet\u0151 Str. 2\u20134, 4028 Debrecen, Hungary"],"raw_orcid":"https://orcid.org/0000-0002-9330-1026","affiliations":[{"raw_affiliation_string":"Department of Vehicles Engineering, Faculty of Engineering, University of Debrecen, \u00d3temet\u0151 Str. 2-4, 4028 Debrecen, Hungary","institution_ids":["https://openalex.org/I132735039"]},{"raw_affiliation_string":"Department of Vehicles Engineering, Faculty of Engineering, University of Debrecen, \u00d3temet\u0151 Str. 2\u20134, 4028 Debrecen, Hungary","institution_ids":["https://openalex.org/I132735039"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059584895","display_name":"G\u00e9za Husi","orcid":"https://orcid.org/0000-0002-9373-0189"},"institutions":[{"id":"https://openalex.org/I132735039","display_name":"University of Debrecen","ror":"https://ror.org/02xf66n48","country_code":"HU","type":"education","lineage":["https://openalex.org/I132735039"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"G\u00e9za Husi","raw_affiliation_strings":["Department of Vehicles Engineering, Faculty of Engineering, University of Debrecen, \u00d3temet\u0151 Str. 2-4, 4028 Debrecen, Hungary","Department of Vehicles Engineering, Faculty of Engineering, University of Debrecen, \u00d3temet\u0151 Str. 2\u20134, 4028 Debrecen, Hungary"],"raw_orcid":"https://orcid.org/0000-0002-9373-0189","affiliations":[{"raw_affiliation_string":"Department of Vehicles Engineering, Faculty of Engineering, University of Debrecen, \u00d3temet\u0151 Str. 2-4, 4028 Debrecen, Hungary","institution_ids":["https://openalex.org/I132735039"]},{"raw_affiliation_string":"Department of Vehicles Engineering, Faculty of Engineering, University of Debrecen, \u00d3temet\u0151 Str. 2\u20134, 4028 Debrecen, Hungary","institution_ids":["https://openalex.org/I132735039"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061104387","display_name":"Andr\u00e1s Hajd\u00fa","orcid":"https://orcid.org/0000-0003-1718-9770"},"institutions":[{"id":"https://openalex.org/I132735039","display_name":"University of Debrecen","ror":"https://ror.org/02xf66n48","country_code":"HU","type":"education","lineage":["https://openalex.org/I132735039"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Andr\u00e1s Hajdu","raw_affiliation_strings":["Department of Data Science and Visualization, Faculty of Informatics, University of Debrecen, Kassai Str. 26, 4028 Debrecen, Hungary"],"raw_orcid":"https://orcid.org/0000-0003-1718-9770","affiliations":[{"raw_affiliation_string":"Department of Data Science and Visualization, Faculty of Informatics, University of Debrecen, Kassai Str. 26, 4028 Debrecen, Hungary","institution_ids":["https://openalex.org/I132735039"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5023646186","https://openalex.org/A5056640588"],"corresponding_institution_ids":["https://openalex.org/I132735039"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39680563,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":"12","first_page":"175","last_page":"175"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6823999881744385,"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":0.6823999881744385,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.0689999982714653,"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"}},{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.06719999760389328,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/scara","display_name":"SCARA","score":0.9205999970436096},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5115000009536743},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.49970000982284546},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48890000581741333},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.42980000376701355},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.40639999508857727},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.37599998712539673},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.37369999289512634}],"concepts":[{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.9205999970436096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6685000061988831},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6520000100135803},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5115000009536743},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.49970000982284546},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48890000581741333},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.42980000376701355},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.40639999508857727},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.37599998712539673},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.37369999289512634},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.37220001220703125},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3612000048160553},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.34150001406669617},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.3400000035762787},{"id":"https://openalex.org/C2781411174","wikidata":"https://www.wikidata.org/wiki/Q8034662","display_name":"Workcell","level":3,"score":0.3070000112056732},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2937999963760376},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.27559998631477356},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2727000117301941},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.27149999141693115},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.27090001106262207},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.2621999979019165},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.25119999051094055}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics14120175","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14120175","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:7dc068b311294a6caa5d907dee3b452d","is_oa":true,"landing_page_url":"https://doaj.org/article/7dc068b311294a6caa5d907dee3b452d","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":"Robotics, Vol 14, Iss 12, p 175 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics14120175","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14120175","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320325658","display_name":"Debreceni Egyetem","ror":"https://ror.org/02xf66n48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W62794737","https://openalex.org/W1534044306","https://openalex.org/W1536680647","https://openalex.org/W2042939218","https://openalex.org/W2102605133","https://openalex.org/W2193145675","https://openalex.org/W2222512263","https://openalex.org/W2580726517","https://openalex.org/W2605102758","https://openalex.org/W2767050701","https://openalex.org/W2889985731","https://openalex.org/W2949676527","https://openalex.org/W2963037989","https://openalex.org/W2963150697","https://openalex.org/W2963351448","https://openalex.org/W3034275286","https://openalex.org/W3096609285","https://openalex.org/W4283748139","https://openalex.org/W4312312588","https://openalex.org/W4312876407","https://openalex.org/W4315752438","https://openalex.org/W4386065740","https://openalex.org/W4392135054","https://openalex.org/W4392974756","https://openalex.org/W4401618684","https://openalex.org/W4402754006","https://openalex.org/W4406085451","https://openalex.org/W4407709569","https://openalex.org/W4411737121","https://openalex.org/W4413554255"],"related_works":[],"abstract_inverted_index":{"This":[0,98],"paper":[1],"presents":[2],"a":[3,17,23,43,64,88,145],"novel":[4],"synthetic":[5,89],"learning-based":[6],"approach":[7],"for":[8,147],"solving":[9],"the":[10,94,134],"component-to-slot":[11],"assignment":[12],"problem":[13],"in":[14,140],"robotics":[15],"using":[16,73],"SCARA":[18],"robot.":[19],"The":[20,109],"method":[21],"uses":[22],"fully":[24],"simulated":[25,141],"environment":[26],"that":[27],"generates":[28],"and":[29,35,54,84,106,124],"annotates":[30],"scenes":[31],"based":[32],"on":[33,93,116,157],"rules":[34],"visual":[36],"features.":[37],"Within":[38],"this":[39],"environment,":[40],"we":[41,86],"train":[42],"permutation-invariant":[44],"neural":[45],"model":[46,111],"to":[47],"predict":[48],"correct":[49],"assignments":[50],"between":[51],"detected":[52],"components":[53,123],"predefined":[55],"target":[56],"slots.":[57],"Set":[58],"Transformer-based":[59],"encoders":[60],"are":[61],"combined":[62],"with":[63,119],"self-attention":[65],"MLP":[66],"scoring":[67],"head.":[68],"Assignment":[69],"prediction":[70],"is":[71],"optimized":[72],"an":[74],"improved":[75],"soft":[76],"Hungarian":[77],"loss":[78],"function.":[79],"To":[80],"increase":[81],"data":[82],"realism":[83],"generalizability,":[85],"implement":[87],"dataset":[90],"generation":[91],"module":[92],"NVIDIA":[95],"Omniverse":[96],"platform.":[97],"setup":[99],"enables":[100],"precise":[101],"control":[102],"over":[103],"scene":[104],"composition":[105],"component":[107],"placement.":[108],"resulting":[110],"achieves":[112],"high":[113],"matching":[114],"accuracy":[115],"complex":[117],"layouts":[118],"variable":[120],"numbers":[121],"of":[122,136],"demonstrates":[125],"strong":[126],"generalization":[127],"across":[128],"multiple":[129],"configurations.":[130],"Our":[131],"results":[132],"validate":[133],"feasibility":[135],"learning":[137],"bijective":[138],"mappings":[139],"assembly":[142],"scenarios,":[143],"providing":[144],"foundation":[146],"scalable":[148],"real-world":[149],"robotic":[150],"pick-and-place":[151],"tasks.":[152],"Tests":[153],"were":[154],"also":[155],"conducted":[156],"actual":[158],"robot":[159],"units.":[160]},"counts_by_year":[],"updated_date":"2026-06-14T06:11:07.267592","created_date":"2025-11-28T00:00:00"}
