{"id":"https://openalex.org/W1651456183","doi":"https://doi.org/10.1109/coase.2015.7294140","title":"Multi-armed bandit models for 2D grasp planning with uncertainty","display_name":"Multi-armed bandit models for 2D grasp planning with uncertainty","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1651456183","doi":"https://doi.org/10.1109/coase.2015.7294140","mag":"1651456183"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2015.7294140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2015.7294140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE 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/A5052716347","display_name":"Michael Laskey","orcid":null},"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":true,"raw_author_name":"Michael Laskey","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720 USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720 USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071607482","display_name":"Jeff Mahler","orcid":null},"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":"Jeff Mahler","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720 USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720 USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008996507","display_name":"Zoe McCarthy","orcid":null},"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":"Zoe McCarthy","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720 USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720 USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018027629","display_name":"Florian T. Pokorny","orcid":"https://orcid.org/0000-0003-1114-6040"},"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":"Florian T. Pokorny","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720 USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720 USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106791934","display_name":"Sachin Patil","orcid":null},"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":"Sachin Patil","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720 USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720 USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108617083","display_name":"Jur van den Berg","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jur van den Berg","raw_affiliation_strings":["Google, Mountain View, CA, USA","Google; Amphitheatre Parkway, Mountain View, CA 94043, USA"],"affiliations":[{"raw_affiliation_string":"Google, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"Google; Amphitheatre Parkway, Mountain View, CA 94043, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"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":["Computer Vision and Active Perception Lab, KTH Royal Institute of Technology, Stockholm, Sweden","Computer Vision and Active Perception Lab, Centre for Autonomous Systems, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Computer Vision and Active Perception Lab, Centre for Autonomous Systems, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049349154","display_name":"Pieter Abbeel","orcid":null},"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":"Pieter Abbeel","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720 USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA 94720 USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010019244","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0001-6747-9499"},"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":["Department of Industrial Engineering and Operations Research and Department of Electrical Engineering and Computer Sciences, Berkeley, CA, USA","Department of Industrial Engineering and Operations Research and Department of Electrical Engineering and Computer Sciences, University of California, Berkeley; Berkeley, CA 94720, USA"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering and Operations Research and Department of Electrical Engineering and Computer Sciences, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Industrial Engineering and Operations Research and Department of Electrical Engineering and Computer Sciences, University of California, Berkeley; Berkeley, CA 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5052716347"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":6.0402,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.96227204,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991000294685364,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980999827384949,"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/T12101","display_name":"Advanced Bandit Algorithms Research","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9189876317977905},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6651663184165955},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6011214256286621},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5423347353935242},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43005314469337463},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42888033390045166},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2145543396472931}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9189876317977905},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6651663184165955},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6011214256286621},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5423347353935242},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43005314469337463},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42888033390045166},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2145543396472931},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2015.7294140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2015.7294140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W189728362","https://openalex.org/W260397725","https://openalex.org/W1510186039","https://openalex.org/W1549675037","https://openalex.org/W1559022906","https://openalex.org/W1580502621","https://openalex.org/W1746819321","https://openalex.org/W1794703952","https://openalex.org/W1911551976","https://openalex.org/W1974508427","https://openalex.org/W1996859119","https://openalex.org/W1998498767","https://openalex.org/W2008909198","https://openalex.org/W2009551863","https://openalex.org/W2018823761","https://openalex.org/W2029409133","https://openalex.org/W2034939775","https://openalex.org/W2038245875","https://openalex.org/W2042312241","https://openalex.org/W2045097767","https://openalex.org/W2083955337","https://openalex.org/W2085302753","https://openalex.org/W2087759104","https://openalex.org/W2088043683","https://openalex.org/W2095160246","https://openalex.org/W2096204844","https://openalex.org/W2106215490","https://openalex.org/W2107153006","https://openalex.org/W2108738385","https://openalex.org/W2113263132","https://openalex.org/W2116817751","https://openalex.org/W2121863487","https://openalex.org/W2150690761","https://openalex.org/W2151084831","https://openalex.org/W2161674001","https://openalex.org/W2165501312","https://openalex.org/W2166426966","https://openalex.org/W2167458557","https://openalex.org/W2169136412","https://openalex.org/W2296350386","https://openalex.org/W2317700292","https://openalex.org/W2499002200","https://openalex.org/W2949186496","https://openalex.org/W2951665052","https://openalex.org/W3100790666","https://openalex.org/W3124229194","https://openalex.org/W4211049957","https://openalex.org/W4214717370","https://openalex.org/W4237910115","https://openalex.org/W6639904974","https://openalex.org/W6643722493","https://openalex.org/W6671608752","https://openalex.org/W6676077707","https://openalex.org/W6764988152"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2557924869","https://openalex.org/W2963326767"],"abstract_inverted_index":{"For":[0],"applications":[1],"such":[2],"as":[3,109,148],"warehouse":[4],"order":[5],"fulfillment,":[6],"robot":[7],"grasps":[8,32],"must":[9],"be":[10,99],"robust":[11,106],"to":[12,22,26,43,53,76,84,179,187],"uncertainty":[13,145,157],"arising":[14],"from":[15,126],"sensing,":[16],"mechanics,":[17],"and":[18,39,42,83,113,163,172,193],"control.":[19],"One":[20],"way":[21],"achieve":[23],"robustness":[24],"is":[25,69,146],"evaluate":[27,114],"the":[28,45,58,64,127,141,173,183],"performance":[29],"of":[30,47,66,165,182],"candidate":[31,52,121],"by":[33],"sampling":[34],"perturbations":[35],"in":[36,101,158],"shape,":[37],"pose,":[38,159],"gripper":[40,160],"approach":[41,161],"compute":[44],"probability":[46],"force":[48],"closure":[49],"for":[50,95],"each":[51,67],"identify":[54],"a":[55,110,149],"grasp":[56,68,107,120,135,185],"with":[57,133,155],"highest":[59],"expected":[60],"quality.":[61],"Since":[62],"evaluating":[63],"quality":[65],"computationally":[70],"demanding,":[71],"prior":[72],"work":[73],"has":[74],"turned":[75],"cloud":[77],"computing.":[78],"To":[79],"improve":[80],"computational":[81],"efficiency":[82],"extend":[85],"this":[86,102],"work,":[87],"we":[88],"consider":[89,140],"how":[90],"Multi-Armed":[91],"Bandit":[92],"(MAB)":[93],"models":[94],"optimizing":[96],"decisions":[97],"can":[98],"applied":[100],"context.":[103],"We":[104,139,167],"formulate":[105],"planning":[108],"MAB":[111,176],"problem":[112],"convergence":[115],"times":[116],"towards":[117],"an":[118],"optimal":[119,184],"using":[122],"100":[123],"object":[124],"shapes":[125],"Brown":[128],"Vision":[129],"2D":[130],"Lab":[131],"Dataset":[132],"1000":[134],"candidates":[136],"per":[137],"object.":[138],"case":[142],"where":[143],"shape":[144],"represented":[147],"Gaussian":[150,156],"process":[151],"implicit":[152],"surface":[153],"(GPIS)":[154],"angle,":[162],"coefficient":[164],"friction.":[166],"find":[168],"that":[169],"Thompson":[170],"Sampling":[171],"Gittins":[174],"index":[175],"methods":[177],"converged":[178],"within":[180],"3%":[181],"up":[186],"10x":[188],"faster":[189,195],"than":[190,196],"uniform":[191],"allocation":[192],"5x":[194],"iterative":[197],"pruning.":[198]},"counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
