{"id":"https://openalex.org/W4312304825","doi":"https://doi.org/10.1109/case49997.2022.9926438","title":"A Keypoint-based Object Representation for Generating Task-specific Grasps","display_name":"A Keypoint-based Object Representation for Generating Task-specific Grasps","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4312304825","doi":"https://doi.org/10.1109/case49997.2022.9926438"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926438","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101709164","display_name":"Mark Robson","orcid":"https://orcid.org/0009-0009-9280-8608"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Mark Robson","raw_affiliation_strings":["University of Birmingham,Intelligent Robotics Lab School of Computer Science,UK","Intelligent Robotics Lab School of Computer Science, University of Birmingham, UK"],"affiliations":[{"raw_affiliation_string":"University of Birmingham,Intelligent Robotics Lab School of Computer Science,UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I79619799"]},{"raw_affiliation_string":"Intelligent Robotics Lab School of Computer Science, University of Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019725446","display_name":"Mohan Sridharan","orcid":"https://orcid.org/0000-0001-9922-8969"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mohan Sridharan","raw_affiliation_strings":["University of Birmingham,Intelligent Robotics Lab School of Computer Science,UK","Intelligent Robotics Lab School of Computer Science, University of Birmingham, UK"],"affiliations":[{"raw_affiliation_string":"University of Birmingham,Intelligent Robotics Lab School of Computer Science,UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I79619799"]},{"raw_affiliation_string":"Intelligent Robotics Lab School of Computer Science, University of Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101709164"],"corresponding_institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I79619799"],"apc_list":null,"apc_paid":null,"fwci":1.0613,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.74833165,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"374","last_page":"381"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9871000051498413,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9797000288963318,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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":0.7665325403213501},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.7340673804283142},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7288171052932739},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6943566799163818},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6690232157707214},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6660851836204529},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6083720922470093},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5730970501899719},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5640897750854492},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47570332884788513},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.44074803590774536},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44065073132514954},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.431584894657135},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2312469780445099},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.111147940158844},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07474303245544434}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7665325403213501},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.7340673804283142},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7288171052932739},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6943566799163818},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6690232157707214},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6660851836204529},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6083720922470093},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5730970501899719},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5640897750854492},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47570332884788513},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.44074803590774536},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44065073132514954},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.431584894657135},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2312469780445099},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.111147940158844},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07474303245544434},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49997.2022.9926438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926438","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1460639909","display_name":null,"funder_award_id":"EP/S032487/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1519946432","https://openalex.org/W2009422376","https://openalex.org/W2036637075","https://openalex.org/W2052806293","https://openalex.org/W2063533050","https://openalex.org/W2112036576","https://openalex.org/W2116817751","https://openalex.org/W2300618187","https://openalex.org/W2307770531","https://openalex.org/W2414078574","https://openalex.org/W2561266087","https://openalex.org/W2563910264","https://openalex.org/W2762491123","https://openalex.org/W2783693550","https://openalex.org/W2786036844","https://openalex.org/W2909559186","https://openalex.org/W2925241625","https://openalex.org/W2962746398","https://openalex.org/W2963033241","https://openalex.org/W2966015075","https://openalex.org/W3027893447","https://openalex.org/W3104209333","https://openalex.org/W3134639508","https://openalex.org/W3134664367","https://openalex.org/W3150224893","https://openalex.org/W3201312429","https://openalex.org/W3205613184","https://openalex.org/W4206142116","https://openalex.org/W4207061897","https://openalex.org/W4225712234","https://openalex.org/W4233857083","https://openalex.org/W4295815744","https://openalex.org/W6697570539","https://openalex.org/W6744542307","https://openalex.org/W6747827861","https://openalex.org/W6764719117","https://openalex.org/W6903437356"],"related_works":["https://openalex.org/W4249963983","https://openalex.org/W3004284873","https://openalex.org/W1636820063","https://openalex.org/W3185561939","https://openalex.org/W2314800874","https://openalex.org/W2101128524","https://openalex.org/W2483941732","https://openalex.org/W1561942766","https://openalex.org/W2061090284","https://openalex.org/W1569815043"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,21,32,53,56,82,108,114,137],"method":[4,85,103,139,146],"for":[5,27,48,120,153],"generating":[6],"robot":[7,112,123],"grasps":[8,91,152],"by":[9,81],"jointly":[10],"considering":[11],"stability":[12,96],"and":[13,16,40,59,71,95,100],"other":[14],"task":[15,94],"object-specific":[17],"constraints.":[18,97],"We":[19,98],"introduce":[20],"three-level":[22],"representation":[23,44],"that":[24,63,92,133,140],"is":[25,64,147],"acquired":[26],"each":[28,49],"object":[29,50],"class":[30,51],"from":[31],"small":[33],"number":[34],"of":[35,37,90,107],"exemplars":[36],"objects,":[38],"tasks,":[39],"relevant":[41],"grasps.":[42],"The":[43,73],"encodes":[45],"task-specific":[46],"knowledge":[47],"as":[52],"relationship":[54],"between":[55],"keypoint":[57],"skeleton":[58],"suitable":[60,151],"grasp":[61],"points":[62],"preserved":[65],"despite":[66],"intra-class":[67],"variations":[68],"in":[69,104,116,134],"scale":[70],"orientation.":[72],"learned":[74],"models":[75],"are":[76],"queried":[77],"at":[78],"run":[79],"time":[80],"simple":[83],"sampling-based":[84],"to":[86,149],"guide":[87],"the":[88,105,122],"generation":[89],"balance":[93],"ground":[99],"evaluate":[101],"our":[102,145],"context":[106],"Franka":[109],"Emika":[110],"Panda":[111],"assisting":[113],"human":[115],"picking":[117],"tabletop":[118],"objects":[119],"which":[121],"does":[124],"not":[125],"have":[126],"prior":[127],"CAD":[128],"models.":[129],"Experimental":[130],"results":[131],"demonstrate":[132],"comparison":[135],"with":[136],"baseline":[138],"only":[141],"focuses":[142],"on":[143],"stability,":[144],"able":[148],"provide":[150],"different":[154],"tasks.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}