{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T20:30:10Z","timestamp":1771705810409,"version":"3.50.1"},"reference-count":48,"publisher":"IEEE","license":[{"start":{"date-parts":[[2022,5,23]],"date-time":"2022-05-23T00:00:00Z","timestamp":1653264000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,5,23]],"date-time":"2022-05-23T00:00:00Z","timestamp":1653264000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100006978","name":"UC Berkeley","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100006978","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100006785","name":"Google","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100006785","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004830","name":"Siemens","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004830","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,5,23]]},"DOI":"10.1109\/icra46639.2022.9811777","type":"proceedings-article","created":{"date-parts":[[2022,7,12]],"date-time":"2022-07-12T19:36:40Z","timestamp":1657654600000},"page":"6180-6187","source":"Crossref","is-referenced-by-count":12,"title":["IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model"],"prefix":"10.1109","author":[{"given":"Chung Min","family":"Kim","sequence":"first","affiliation":[{"name":"The AUTOLab at University of California,Berkeley"}]},{"given":"Michael","family":"Danielczuk","sequence":"additional","affiliation":[{"name":"The AUTOLab at University of California,Berkeley"}]},{"given":"Isabella","family":"Huang","sequence":"additional","affiliation":[{"name":"University of California,Department of Electrical Engineering and Computer Sciences,Berkeley,USA"}]},{"given":"Ken","family":"Goldberg","sequence":"additional","affiliation":[{"name":"The AUTOLab at University of California,Berkeley"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-014-9402-3"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.506972"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.5254\/1.3547969"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau4984"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460887"},{"key":"ref30","first-page":"515","article-title":"Learning deep policies for robot bin picking by simulating robust grasping sequences","author":"mahler","year":"0","journal-title":"Conference on Robot Learning (CoRL)"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487517"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561969"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919859066"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2004.1371616"},{"key":"ref10","article-title":"Acronym: A large-scale grasp dataset based on simulation","author":"fang","year":"0","journal-title":"Proc IEEE Int Conf Robotics and Automation (ICRA)"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487699"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01146"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1016\/0043-1648(91)90104-3"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989330"},{"key":"ref14","author":"hertz","year":"1896","journal-title":"Miscellaneous Papers"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1988.12032"},{"key":"ref16","article-title":"Defgraspsim: Simulation-based grasping of 3d deformable objects","author":"huang","year":"0","journal-title":"DO-Sim Workshop on Deformable Object Simulation in Robotics at Robotics Science and Systems (RSS)"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759657"},{"key":"ref18","first-page":"651","article-title":"Scalable deep reinforcement learning for vision-based robotic manipulation","author":"kalashnikov","year":"0","journal-title":"Conference on Robot Learning (CoRL)"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/027836499201100102"},{"key":"ref28","first-page":"270","article-title":"Gpu-accelerated robotic simulation for distributed reinforcement learning","author":"liang","year":"0","journal-title":"Conference on Robot Learning (CoRL)"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844081"},{"key":"ref27","first-page":"3055","article-title":"A review of modeling of soft-contact fingers and stiffness control for dextrous manipulation in robotics","volume":"3","author":"li","year":"0","journal-title":"Proc IEEE Int Conf Robotics and Automation (ICRA)"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400402"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545525"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1145\/3338695"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2007.103"},{"key":"ref8","article-title":"Reach: Reducing false negatives in robot grasp planning with a robust efficient area contact hypothesis model","author":"danielczuk","year":"2019","journal-title":"Int Symp of Robotics Research (ISRR)"},{"key":"ref7","first-page":"2016","author":"coumans","year":"0","journal-title":"Pybullet a python module for physics simulation for games robotics and machine learning"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.12346"},{"key":"ref9","article-title":"A billion ways to grasp: An evaluation of grasp sampling schemes on a dense, physics-based grasp data set","author":"eppner","year":"2019","journal-title":"Int Symp of Robotics Research (ISRR)"},{"key":"ref1","article-title":"Transferring dexterous manipulation from gpu simulation to a remote real-world trifinger","author":"allshire","year":"0","journal-title":"Canf on Robot Learning (CoRL)"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593986"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.820868"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197293"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918755536"},{"key":"ref22","article-title":"Contact methods in finite element simulations","author":"kloosterman","year":"2002","journal-title":"Undefined"},{"key":"ref47","article-title":"Towards robotic assembly by predicting robust, precise and task-oriented grasps","author":"zhao","year":"0","journal-title":"Conference on Robot Learning (CoRL)"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600400401"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1115\/1.3267342"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914549607"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0118432"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1145\/3450626.3459753"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3070102"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1145\/3386569.3392425"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989258"},{"key":"ref25","first-page":"109","article-title":"Open-grasp: A toolkit for robot grasping simulation","author":"leon","year":"0","journal-title":"Proc IEEE Int Conf on Simulation Modeling and Programming of Autonomous Robots (SIMPAR)"}],"event":{"name":"2022 IEEE International Conference on Robotics and Automation (ICRA)","location":"Philadelphia, PA, USA","start":{"date-parts":[[2022,5,23]]},"end":{"date-parts":[[2022,5,27]]}},"container-title":["2022 International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9811522\/9811357\/09811777.pdf?arnumber=9811777","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,3]],"date-time":"2022-11-03T23:06:51Z","timestamp":1667516811000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9811777\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,23]]},"references-count":48,"URL":"https:\/\/doi.org\/10.1109\/icra46639.2022.9811777","relation":{},"subject":[],"published":{"date-parts":[[2022,5,23]]}}}