{"id":"https://openalex.org/W4400519197","doi":"https://doi.org/10.48550/arxiv.2407.06951","title":"RoboCAS: A Benchmark for Robotic Manipulation in Complex Object Arrangement Scenarios","display_name":"RoboCAS: A Benchmark for Robotic Manipulation in Complex Object Arrangement Scenarios","publication_year":2024,"publication_date":"2024-07-09","ids":{"openalex":"https://openalex.org/W4400519197","doi":"https://doi.org/10.48550/arxiv.2407.06951"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2407.06951","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.06951","pdf_url":"https://arxiv.org/pdf/2407.06951","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2407.06951","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101729358","display_name":"Liming Zheng","orcid":"https://orcid.org/0009-0009-0528-769X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zheng, Liming","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101248526","display_name":"Feng Yan","orcid":"https://orcid.org/0009-0005-5428-3637"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Feng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079874557","display_name":"Fanfan Liu","orcid":"https://orcid.org/0000-0001-5475-1465"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Fanfan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101303327","display_name":"Chengjian Feng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng, Chengjian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009652857","display_name":"Zhuoliang Kang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kang, Zhuoliang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100462142","display_name":"Lin Ma","orcid":"https://orcid.org/0009-0005-2568-2735"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Lin","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101729358"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9898999929428101,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9898999929428101,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9704999923706055,"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":0.9409999847412109,"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/benchmark","display_name":"Benchmark (surveying)","score":0.7622274160385132},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6305458545684814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5707390904426575},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5473083853721619},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3349568843841553},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.16717511415481567},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.12455791234970093}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7622274160385132},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6305458545684814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5707390904426575},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5473083853721619},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3349568843841553},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.16717511415481567},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.12455791234970093}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2407.06951","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.06951","pdf_url":"https://arxiv.org/pdf/2407.06951","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2407.06951","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2407.06951","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2407.06951","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.06951","pdf_url":"https://arxiv.org/pdf/2407.06951","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4400519197.pdf","grobid_xml":"https://content.openalex.org/works/W4400519197.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Foundation":[0],"models":[1,122],"hold":[2],"significant":[3],"potential":[4],"for":[5,49,107,136,151],"enabling":[6],"robots":[7],"to":[8,65,103],"perform":[9,104],"long-horizon":[10,105,142],"general":[11],"manipulation":[12],"tasks.":[13],"However,":[14],"the":[15,20,41,44,133],"simplicity":[16],"of":[17,22,71,140],"tasks":[18],"and":[19,61,76,97,110,147],"uniformity":[21],"environments":[23],"in":[24,31,54,126,144],"existing":[25],"benchmarks":[26],"restrict":[27],"their":[28,124],"effective":[29],"deployment":[30],"complex":[32,50,89,128],"scenarios.":[33],"To":[34],"address":[35],"this":[36,38],"limitation,":[37],"paper":[39],"introduces":[40],"\\textit{RoboCAS}":[42],"benchmark,":[43],"first":[45],"benchmark":[46,58],"specifically":[47],"designed":[48],"object":[51,78,129],"arrangement":[52,130],"scenarios":[53],"robotic":[55],"manipulation.":[56],"This":[57],"employs":[59],"flexible":[60],"concise":[62],"scripted":[63],"policies":[64],"efficiently":[66],"collect":[67],"a":[68,81],"diverse":[69],"array":[70],"demonstrations,":[72],"showcasing":[73],"scattered,":[74],"orderly,":[75],"stacked":[77],"arrangements":[79],"within":[80],"highly":[82],"realistic":[83],"physical":[84],"simulation":[85],"environment.":[86],"It":[87],"includes":[88],"processes":[90],"such":[91],"as":[92],"target":[93],"retrieval,":[94],"obstacle":[95],"clearance,":[96],"robot":[98],"manipulation,":[99],"testing":[100],"agents'":[101],"abilities":[102],"planning":[106],"spatial":[108],"reasoning":[109],"predicting":[111],"chain":[112],"reactions":[113],"under":[114],"ambiguous":[115],"instructions.":[116],"Extensive":[117],"experiments":[118],"on":[119],"multiple":[120],"baseline":[121],"reveal":[123],"limitations":[125],"managing":[127],"scenarios,":[131],"underscoring":[132],"urgent":[134],"need":[135],"intelligent":[137],"agents":[138],"capable":[139],"performing":[141],"operations":[143],"practical":[145],"deployments":[146],"providing":[148],"valuable":[149],"insights":[150],"future":[152],"research":[153],"directions.":[154],"Project":[155],"website:":[156],"\\url{https://github.com/notFoundThisPerson/RoboCAS-v0}.":[157]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
