{"id":"https://openalex.org/W3128210092","doi":"https://doi.org/10.1007/s10514-021-09969-6","title":"Partial caging: a clearance-based definition, datasets, and deep learning","display_name":"Partial caging: a clearance-based definition, datasets, and deep learning","publication_year":2021,"publication_date":"2021-02-04","ids":{"openalex":"https://openalex.org/W3128210092","doi":"https://doi.org/10.1007/s10514-021-09969-6","mag":"3128210092"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-021-09969-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-021-09969-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-021-09969-6.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10514-021-09969-6.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020344044","display_name":"Michael C. Welle","orcid":"https://orcid.org/0000-0003-3827-3824"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Michael C. Welle","raw_affiliation_strings":["KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-3827-3824","affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010206538","display_name":"Anastasiia Varava","orcid":"https://orcid.org/0000-0002-0900-1523"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anastasiia Varava","raw_affiliation_strings":["KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020901032","display_name":"Jeffrey Mahler","orcid":"https://orcid.org/0000-0003-3204-3024"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey Mahler","raw_affiliation_strings":["University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050342525","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0002-2661-4524"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023792180","display_name":"Danica Kragi\u0107","orcid":"https://orcid.org/0000-0003-2965-2953"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Danica Kragic","raw_affiliation_strings":["KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018027629","display_name":"Florian T. Pokorny","orcid":"https://orcid.org/0000-0003-1114-6040"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Florian T. Pokorny","raw_affiliation_strings":["KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5020344044"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":{"value":2590,"currency":"EUR","value_usd":3390},"fwci":0.4163,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.58941555,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"45","issue":"5","first_page":"647","last_page":"664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9394000172615051,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8725428581237793},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.7406277060508728},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6073620915412903},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.6034136414527893},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5631764531135559},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5442569255828857},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.4919264316558838},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4345822334289551},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.41207122802734375},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.41137778759002686},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3969362676143646},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3898788094520569},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3405134677886963}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8725428581237793},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.7406277060508728},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6073620915412903},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.6034136414527893},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5631764531135559},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5442569255828857},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.4919264316558838},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4345822334289551},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.41207122802734375},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.41137778759002686},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3969362676143646},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3898788094520569},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3405134677886963},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10514-021-09969-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-021-09969-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-021-09969-6.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:DiVA.org:kth-304608","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-304608","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1007/s10514-021-09969-6","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-021-09969-6","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-021-09969-6.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320940","display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning","ror":"https://ror.org/044wr7g58"},{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"},{"id":"https://openalex.org/F4320322509","display_name":"Kungliga Tekniska H\u00f6gskolan","ror":"https://ror.org/026vcq606"},{"id":"https://openalex.org/F4320322581","display_name":"Vetenskapsr\u00e5det","ror":"https://ror.org/03zttf063"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3128210092.pdf","grobid_xml":"https://content.openalex.org/works/W3128210092.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W1503925285","https://openalex.org/W1820657498","https://openalex.org/W1980073965","https://openalex.org/W1981667747","https://openalex.org/W1999156278","https://openalex.org/W2000638494","https://openalex.org/W2025848827","https://openalex.org/W2028344184","https://openalex.org/W2029909232","https://openalex.org/W2036637075","https://openalex.org/W2041376653","https://openalex.org/W2051725602","https://openalex.org/W2064097161","https://openalex.org/W2065736001","https://openalex.org/W2068375174","https://openalex.org/W2097117768","https://openalex.org/W2104811860","https://openalex.org/W2113643677","https://openalex.org/W2114306020","https://openalex.org/W2136981968","https://openalex.org/W2201912979","https://openalex.org/W2289299303","https://openalex.org/W2342204193","https://openalex.org/W2485911221","https://openalex.org/W2521265935","https://openalex.org/W2550858736","https://openalex.org/W2761290119","https://openalex.org/W2773721443","https://openalex.org/W2803196488","https://openalex.org/W2810785043","https://openalex.org/W2911290044","https://openalex.org/W2953249127","https://openalex.org/W2953384591","https://openalex.org/W2962736495","https://openalex.org/W2962899390","https://openalex.org/W2963654160","https://openalex.org/W2964121744","https://openalex.org/W2965510933","https://openalex.org/W2989259058","https://openalex.org/W3003686473","https://openalex.org/W3112422759","https://openalex.org/W3210232381","https://openalex.org/W6713134421","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W4226493464","https://openalex.org/W4312417841","https://openalex.org/W3193565141","https://openalex.org/W3133861977","https://openalex.org/W3167935049","https://openalex.org/W3029198973"],"abstract_inverted_index":{"Abstract":[0],"Caging":[1],"grasps":[2],"limit":[3],"the":[4,107,202,222,238,241],"mobility":[5],"of":[6,13,20,28,72,109,116,119,149,176,230,240,251],"an":[7,29,165],"object":[8,73],"to":[9,85,105,131,208],"a":[10,18,36,42,47,59,96,150,154],"bounded":[11],"component":[12],"configuration":[14,152],"space.":[15],"We":[16,51,183,195],"introduce":[17],"notion":[19],"partial":[21,64,93,113],"cage":[22,65,242],"quality":[23,66,108,243],"based":[24],"on":[25,137,153,169,192,201],"maximal":[26],"clearance":[27],"escaping":[30],"path.":[31],"As":[32],"computing":[33],"this":[34,186],"is":[35,83,103,129,172,253],"computationally":[37],"demanding":[38],"task":[39],"even":[40],"in":[41],"two-dimensional":[43],"scenario,":[44],"we":[45,100,219,236],"propose":[46],"deep":[48],"learning":[49],"approach.":[50],"design":[52],"two":[53],"convolutional":[54],"neural":[55,80],"networks":[56,136],"and":[57,75,121,133,141,174,235,255],"construct":[58],"pipeline":[60,224],"for":[61,188],"real-time":[62],"planar":[63,76],"estimation":[67],"directly":[68],"from":[69],"2D":[70,189],"images":[71,118],"models":[74],"caging":[77,87,114,126,142,232,247],"tools.":[78],"One":[79],"network,":[81],"CageMaskNN,":[82],"used":[84,130],"identify":[86,227],"tool":[88,127,143,233,248],"locations":[89],"that":[90,99,147,221],"can":[91,225],"support":[92],"cages,":[94],"while":[95],"second":[97],"network":[98,198],"call":[101],"CageClearanceNN":[102],"trained":[104],"predict":[106],"those":[110],"configurations.":[111,144,182],"A":[112],"dataset":[115,167,187],"3811":[117],"objects":[120,140,178],"more":[122],"than":[123,161],"19":[124],"million":[125,181],"configurations":[128,171],"train":[132],"evaluate":[134,237],"these":[135],"previously":[138],"unseen":[139],"Experiments":[145],"show":[146,220],"evaluation":[148,223,245],"given":[151],"GeForce":[155],"GTX":[156],"1080":[157],"GPU":[158],"takes":[159],"less":[160],"6":[162],"ms.":[163],"Furthermore,":[164],"additional":[166],"focused":[168],"grasp-relevant":[170],"curated":[173],"consists":[175],"772":[177],"with":[179,211],"3.7":[180],"also":[184],"use":[185],"Cage":[190],"acquisition":[191],"novel":[193],"objects.":[194],"study":[196],"how":[197,207],"performance":[199],"depends":[200],"datasets,":[203],"as":[204,206],"well":[205],"efficiently":[209],"deal":[210],"unevenly":[212],"distributed":[213],"training":[214],"data.":[215],"In":[216],"further":[217],"analysis,":[218],"approximately":[226],"connected":[228],"regions":[229],"successful":[231],"placements":[234],"continuity":[239],"score":[244],"along":[246],"trajectories.":[249],"Influence":[250],"disturbances":[252],"investigated":[254],"quantitative":[256],"results":[257],"are":[258],"provided.":[259]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
