{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,28]],"date-time":"2026-02-28T18:09:07Z","timestamp":1772302147017,"version":"3.50.1"},"reference-count":39,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2024,3,1]],"date-time":"2024-03-01T00:00:00Z","timestamp":1709251200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"DOI":"10.13039\/501100002341","name":"Research Council of Finland","doi-asserted-by":"publisher","award":["317020"],"award-info":[{"award-number":["317020"]}],"id":[{"id":"10.13039\/501100002341","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2024,3]]},"DOI":"10.1109\/lra.2024.3360814","type":"journal-article","created":{"date-parts":[[2024,1,31]],"date-time":"2024-01-31T18:39:33Z","timestamp":1706726373000},"page":"2981-2988","source":"Crossref","is-referenced-by-count":23,"title":["Benchmarking the Sim-to-Real Gap in Cloth Manipulation"],"prefix":"10.1109","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1866-2144","authenticated-orcid":false,"given":"David","family":"Blanco-Mulero","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering and Automation (EEA), Aalto University, Espoo, Finland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1379-9152","authenticated-orcid":false,"given":"Oriol","family":"Barbany","sequence":"additional","affiliation":[{"name":"Institut de Rob&#x00F3;tica i Inform&#x00E1;tica Industrial, CSIC-UPC, Barcelona, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3025-5883","authenticated-orcid":false,"given":"Gokhan","family":"Alcan","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Automation (EEA), Aalto University, Espoo, Finland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9715-4062","authenticated-orcid":false,"given":"Adri\u00e0","family":"Colom\u00e9","sequence":"additional","affiliation":[{"name":"Institut de Rob&#x00F3;tica i Inform&#x00E1;tica Industrial, CSIC-UPC, Barcelona, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2933-398X","authenticated-orcid":false,"given":"Carme","family":"Torras","sequence":"additional","affiliation":[{"name":"Institut de Rob&#x00F3;tica i Inform&#x00E1;tica Industrial, CSIC-UPC, Barcelona, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5230-5549","authenticated-orcid":false,"given":"Ville","family":"Kyrki","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Automation (EEA), Aalto University, Espoo, Finland"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2972852"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3158428"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.00082"},{"key":"ref4","first-page":"2021","article-title":"FlingBot: The unreasonable effectiveness of dynamic manipulation for cloth unfolding","volume-title":"Proc. 5th Annu. Conf. Robot Learn.","author":"Ha"},{"key":"ref5","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2022.XVIII.016","article-title":"Iterative residual policy for goal-conditioned dynamic manipulation of deformable objects","volume-title":"Proc. Robot.: Sci. Syst.","author":"Chi","year":"2022"},{"key":"ref6","doi-asserted-by":"crossref","DOI":"10.15607\/RSS.2020.XVI.065","article-title":"Learning to manipulate deformable objects without demonstrations","volume-title":"Proc. 16th Robot.: Sci. Syst.","author":"Wu","year":"2020"},{"key":"ref7","first-page":"564","article-title":"Learning predictive representations for deformable objects using contrastive estimation","volume-title":"Proc. Conf. Robot Learn.","author":"Yan","year":"2021"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561391"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2953663"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196659"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981376"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10342002"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386109"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1145\/2601097.2601152"},{"key":"ref15","article-title":"Pybullet, a Python module for physics simulation for games, robotics and machine learning","author":"Coumans","year":"20162021"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1007\/8415_2012_125"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1145\/2010324.1964966"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3174367"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2965891"},{"key":"ref20","first-page":"432","article-title":"SoftGym: Benchmarking deep reinforcement learning for deformable object manipulation","volume-title":"Proc. Conf. Robot Learn.","author":"Lin","year":"2021"},{"key":"ref21","article-title":"DaxBench: Benchmarking deformable object manipulation with differentiable physics","volume-title":"Proc. 11th Int. Conf. Learn. Representations","author":"Chen","year":"2023"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3187843"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811651"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981101"},{"key":"ref25","first-page":"734","article-title":"Sim-to-real reinforcement learning for deformable object manipulation","volume-title":"Proc. Conf. Robot Learn.","author":"Matas","year":"2018"},{"key":"ref26","article-title":"Dynamic environments with deformable objects","volume-title":"Proc. Neural Inf. Process. Syst. Datasets Benchmarks Track","author":"Antonova","year":"2021"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593512"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2986921"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3284382"},{"key":"ref30","volume-title":"Robot Modeling and Control","author":"Spong","year":"2020"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00551"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160653"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00459"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00356"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/cvpr.2018.00030"},{"key":"ref36","article-title":"Robosuite: A modular simulation framework and benchmark for robot learning","author":"Zhu","year":"2020"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1017\/9781108348973"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1145\/2001858.2002123"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2021.3064065"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/10409903\/10417136.pdf?arnumber=10417136","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,3,3]],"date-time":"2024-03-03T09:35:44Z","timestamp":1709458544000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10417136\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,3]]},"references-count":39,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/lra.2024.3360814","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,3]]}}}