{"id":"https://openalex.org/W4306704803","doi":"https://doi.org/10.48550/arxiv.2210.07442","title":"Frame Mining: a Free Lunch for Learning Robotic Manipulation from 3D Point Clouds","display_name":"Frame Mining: a Free Lunch for Learning Robotic Manipulation from 3D Point Clouds","publication_year":2022,"publication_date":"2022-10-14","ids":{"openalex":"https://openalex.org/W4306704803","doi":"https://doi.org/10.48550/arxiv.2210.07442"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2210.07442","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.07442","pdf_url":"https://arxiv.org/pdf/2210.07442","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2210.07442","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101798127","display_name":"Minghua Liu","orcid":"https://orcid.org/0000-0002-0064-7969"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Liu, Minghua","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026720933","display_name":"Xuanlin Li","orcid":"https://orcid.org/0009-0005-6200-7309"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xuanlin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100349188","display_name":"Zhan Ling","orcid":"https://orcid.org/0000-0001-9293-721X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ling, Zhan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021053713","display_name":"Yangyan Li","orcid":"https://orcid.org/0000-0003-4039-4705"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yangyan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100627109","display_name":"Hao Su","orcid":"https://orcid.org/0009-0004-7679-7842"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Su, Hao","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101798127"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9836000204086304,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9632999897003174,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/frame","display_name":"Frame (networking)","score":0.776543378829956},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7685362696647644},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7652040719985962},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6170347332954407},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5861270427703857},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5702874064445496},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5603858828544617},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5100236535072327},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.50612872838974},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.46838027238845825},{"id":"https://openalex.org/keywords/residual-frame","display_name":"Residual frame","score":0.4112803637981415},{"id":"https://openalex.org/keywords/reference-frame","display_name":"Reference frame","score":0.40041229128837585},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12160778045654297}],"concepts":[{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.776543378829956},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7685362696647644},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7652040719985962},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6170347332954407},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5861270427703857},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5702874064445496},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5603858828544617},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5100236535072327},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.50612872838974},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.46838027238845825},{"id":"https://openalex.org/C204641915","wikidata":"https://www.wikidata.org/wiki/Q7315509","display_name":"Residual frame","level":4,"score":0.4112803637981415},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.40041229128837585},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12160778045654297},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2210.07442","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.07442","pdf_url":"https://arxiv.org/pdf/2210.07442","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2210.07442","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2210.07442","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2210.07442","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.07442","pdf_url":"https://arxiv.org/pdf/2210.07442","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2379961389","https://openalex.org/W2125523436","https://openalex.org/W2103881587","https://openalex.org/W1769856625","https://openalex.org/W2119751394","https://openalex.org/W2367398656","https://openalex.org/W2168879190","https://openalex.org/W2120898383","https://openalex.org/W2108315009","https://openalex.org/W2144951891"],"abstract_inverted_index":{"We":[0,33,115],"study":[1],"how":[2],"choices":[3,26],"of":[4,12,23],"input":[5],"point":[6,17,31,87,165],"cloud":[7,166],"coordinate":[8,24],"frames":[9,37,102,123],"impact":[10],"learning":[11,44],"manipulation":[13,149,178],"skills":[14],"from":[15,111,152],"3D":[16,52,177],"clouds.":[18,32],"There":[19],"exist":[20],"a":[21,39,129,172],"variety":[22],"frame":[25,59,63,73,76,113,167],"to":[27,119,175],"normalize":[28],"captured":[29],"robot-object-interaction":[30],"find":[34],"that":[35],"different":[36],"have":[38],"profound":[40],"effect":[41],"on":[42,145],"agent":[43],"performance,":[45],"and":[46,60,74,92,106,124,154],"the":[47,57,61,69,100,141],"trend":[48],"is":[49],"similar":[50],"across":[51,89,104],"backbone":[53],"networks.":[54],"In":[55],"particular,":[56],"end-effector":[58],"target-part":[62],"achieve":[64],"higher":[65,138],"training":[66],"efficiency":[67],"than":[68,140],"commonly":[70],"used":[71],"world":[72],"robot-base":[75],"in":[77,128],"many":[78],"tasks,":[79,105],"intuitively":[80],"because":[81],"they":[82],"provide":[83],"helpful":[84],"alignments":[85],"among":[86],"clouds":[88],"time":[90],"steps":[91],"thus":[93,116],"can":[94,169],"simplify":[95],"visual":[96],"module":[97],"learning.":[98,179],"Moreover,":[99],"well-performing":[101],"vary":[103],"some":[107],"tasks":[108,150],"may":[109],"benefit":[110],"multiple":[112],"candidates.":[114],"propose":[117],"FrameMiners":[118,133],"adaptively":[120],"select":[121],"candidate":[122],"fuse":[125],"their":[126],"merits":[127],"task-agnostic":[130],"manner.":[131],"Experimentally,":[132],"achieves":[134],"on-par":[135],"or":[136,161],"significantly":[137],"performance":[139],"best":[142],"single-frame":[143],"version":[144],"five":[146],"fully":[147],"physical":[148],"adapted":[151],"ManiSkill":[153],"OCRTOC.":[155],"Without":[156],"changing":[157],"existing":[158],"camera":[159],"placements":[160],"adding":[162],"extra":[163],"cameras,":[164],"mining":[168],"serve":[170],"as":[171],"free":[173],"lunch":[174],"improve":[176]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2022-10-19T00:00:00"}
