{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T16:47:55Z","timestamp":1777654075890,"version":"3.51.4"},"reference-count":36,"publisher":"IEEE","license":[{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,5,29]]},"DOI":"10.1109\/icra48891.2023.10160763","type":"proceedings-article","created":{"date-parts":[[2023,7,4]],"date-time":"2023-07-04T17:20:56Z","timestamp":1688491256000},"page":"10380-10386","source":"Crossref","is-referenced-by-count":18,"title":["Safe Self-Supervised Learning in Real of Visuo-Tactile Feedback Policies for Industrial Insertion"],"prefix":"10.1109","author":[{"given":"Letian","family":"Fu","sequence":"first","affiliation":[{"name":"The AUTOLab at UC Berkeley"}]},{"given":"Huang","family":"Huang","sequence":"additional","affiliation":[{"name":"The AUTOLab at UC Berkeley"}]},{"given":"Lars","family":"Berscheid","sequence":"additional","affiliation":[{"name":"Karlsruhe Institute of Technology"}]},{"given":"Hui","family":"Li","sequence":"additional","affiliation":[{"name":"Autodesk Research"}]},{"given":"Ken","family":"Goldberg","sequence":"additional","affiliation":[{"name":"The AUTOLab at UC Berkeley"}]},{"given":"Sachin","family":"Chitta","sequence":"additional","affiliation":[{"name":"Autodesk Research"}]}],"member":"263","reference":[{"key":"ref13","author":"kingma","year":"2015","journal-title":"Adam A method for stochastic optimization"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.3390\/s17122762"},{"key":"ref12","first-page":"883","volume":"5","author":"kimble","year":"2020","journal-title":"Benchmarking protocols for evaluating small parts robotic assembly systems"},{"key":"ref34","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2022.XVIII.044","article-title":"You only demonstrate once: Category-level manipulation from single visual demonstration","author":"wen","year":"2022","journal-title":"Robotics Science and Systems (RSS)"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2977257"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9982242"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812312"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811798"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3076971"},{"key":"ref11","article-title":"Tactile pose estimation and policy learning for unknown object manipulation","author":"kelestemur","year":"2022","journal-title":"Proc Int'l Joint Conf Autonomous Agents and Multiagent Systems (AAMAS)"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1145\/3474085.3475414"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794127"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3146945"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3146565"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.015"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636586"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943123"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300101"},{"key":"ref18","article-title":"Motion planning and the design of orienting devices for vibratory part feeders","author":"lozano-perez","year":"1986","journal-title":"IEEE Journal of Robotics and Automation"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800607"},{"key":"ref23","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2022.XVIII.035","article-title":"Factory: Fast contact for robotic assembly","author":"narang","year":"2022","journal-title":"Robotics Science and Systems (RSS)"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1995_209_173_02"},{"key":"ref25","article-title":"Tactile-sensitive new-tonianvae for high-accuracy industrial connector-socket insertion","author":"okumura","year":"2022","journal-title":"ArXiv Preprint"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.088"},{"key":"ref22","first-page":"561","article-title":"Ray: A distributed framework for emerging ai applications","author":"moritz","year":"2018","journal-title":"13th USENIX Symposium on Operating Systems Design and Implementation (OSDI 18)"},{"key":"ref21","first-page":"195","article-title":"Automatic assembly by g. boothroyd, c. poli and le murch, marcel dekker, new york, 378 pp., 1982","volume":"3","author":"mckee","year":"1985","journal-title":"Robotica"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341714"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01044"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9340848"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812019"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1007\/BF01891840"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811940"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793659"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1989.99967"},{"key":"ref6","first-page":"1587","article-title":"Addressing function approximation error in actor-critic methods","author":"fujimoto","year":"2018","journal-title":"International Conference on Machine Learning"},{"key":"ref5","article-title":"Implicit behavioral cloning","author":"florence","year":"2021","journal-title":"Conference on Robot Learning (CoRL)"}],"event":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","location":"London, United Kingdom","start":{"date-parts":[[2023,5,29]]},"end":{"date-parts":[[2023,6,2]]}},"container-title":["2023 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/10160211\/10160212\/10160763.pdf?arnumber=10160763","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,7,24]],"date-time":"2023-07-24T17:36:07Z","timestamp":1690220167000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10160763\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5,29]]},"references-count":36,"URL":"https:\/\/doi.org\/10.1109\/icra48891.2023.10160763","relation":{},"subject":[],"published":{"date-parts":[[2023,5,29]]}}}