At the age of 22, after an involvement with Tommy Mottola and Epic Records following the end of his first deal with Interscope, Thicke resolved himself to work chiefly on material for his debut album, initially titled Cherry Blue Skies, planning to use his own money to fund the project. As Thicke told Billboard, "I decided I was going to save money to make my album, and I hoped to offer it to labels-take it or leave it-so I didn't have to negotiate how to make my music." While piecing his album together, Thicke began working with veteran producer and label executive Andre Harrell and, under his guidance, eventually signed with Interscope for a second time as part of Harrell's and Kenneth "Babyface" Edmonds' Nu America imprint label in 2001.  In 2002, Thicke released his debut single "When I Get You Alone". The track samples Walter Murphy's "A Fifth of Beethoven", which itself is a disco rendition of Beethoven's Fifth Symphony. The music video for the song received some rotation on MTV2 and BET's Rated Next and was spun moderately on pop and urban radio, peaking at number forty-nine on Radio & Records Pop chart. Globally, however, "When I Get You Alone" became a chart success when it peaked in the Top 20 in Australia, Belgium, and Italy, and reached the Top 10 of the singles charts in New Zealand and the Top 3 in the Netherlands.  The moderate success was enough to signal the release of the album in 2003 with its name changed to A Beautiful World. Despite the release of a second single, "Brand New Jones", the album received very little promotion and debuted at number 152 on the Billboard 200 albums chart, selling 119,000 copies as of January, 2012. A Beautiful World fell below the label's commercial expectations. The album's under-performance troubled Thicke personally, but it proved enough to make him a wanted collaborator. Thicke has cited Mary J. Blige, Usher, and Lil' Wayne, among others, as those who subsequently reached out to him. Reflecting on A Beautiful World in 2013, Usher stated to The New York Times, "I was blown away -- I thought Beatles, Earth Wind & Fire, Shuggie Otis, Marvin Gaye -- all in one album. [Robin's] got a soul you can't buy, man."  Runner-up Blake Lewis performed "When I Get You Alone" during the 2007 season of American Idol when the Top 3 chose a song to sing. Lewis has often put Robin Thicke in his list of musical influences in interviews and on the American Idol website. The song was also performed by Blaine Anderson (played by Darren Criss) on Glee during the Season 2 episode "Silly Love Songs".

Answer this question "were any of his songs a success?" by extracting the answer from the text above.
The album's under-performance troubled Thicke personally, but it proved enough to make him a wanted collaborator.