{"id":"https://openalex.org/W2979898809","doi":"https://doi.org/10.1109/etfa.2019.8869095","title":"Learning Action-oriented Grasping for Manipulation","display_name":"Learning Action-oriented Grasping for Manipulation","publication_year":2019,"publication_date":"2019-09-01","ids":{"openalex":"https://openalex.org/W2979898809","doi":"https://doi.org/10.1109/etfa.2019.8869095","mag":"2979898809"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2019.8869095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2019.8869095","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ioc.upc.edu/ca/personal/jan.rosell/publications/papers/2019_etfa_learning_action-oriented_grasping_for_manipulation_muhayyudinetal.pdf/view","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113875884","display_name":"Muhayy Ud Din","orcid":"https://orcid.org/0000-0001-6214-1077"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Muhayy Ud Din","raw_affiliation_strings":["Institute of Industrial and Control Engineering (IOC), Universitat Polit\u00e8cnica de Catalunya (UPC) \u2013 Barcelona Tech, Spain"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial and Control Engineering (IOC), Universitat Polit\u00e8cnica de Catalunya (UPC) \u2013 Barcelona Tech, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050971039","display_name":"Muhammad Usman Sarwar","orcid":"https://orcid.org/0000-0001-8195-0953"},"institutions":[{"id":"https://openalex.org/I16076960","display_name":"COMSATS University Islamabad","ror":"https://ror.org/00nqqvk19","country_code":"PK","type":"education","lineage":["https://openalex.org/I16076960"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"M Usman Sarwar","raw_affiliation_strings":["Department of Computer Science, COMSATS University Islamabad \u2013 Lahore Campus, Pakistan"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, COMSATS University Islamabad \u2013 Lahore Campus, Pakistan","institution_ids":["https://openalex.org/I16076960"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100871478","display_name":"Imran Zahoor","orcid":null},"institutions":[{"id":"https://openalex.org/I16076960","display_name":"COMSATS University Islamabad","ror":"https://ror.org/00nqqvk19","country_code":"PK","type":"education","lineage":["https://openalex.org/I16076960"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Imran Zahoor","raw_affiliation_strings":["Department of Computer Science, COMSATS University Islamabad \u2013 Lahore Campus, Pakistan"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, COMSATS University Islamabad \u2013 Lahore Campus, Pakistan","institution_ids":["https://openalex.org/I16076960"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067294317","display_name":"Wajahat M. Qazi","orcid":"https://orcid.org/0000-0002-6970-8328"},"institutions":[{"id":"https://openalex.org/I16076960","display_name":"COMSATS University Islamabad","ror":"https://ror.org/00nqqvk19","country_code":"PK","type":"education","lineage":["https://openalex.org/I16076960"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Wajahat M Qazi","raw_affiliation_strings":["Department of Computer Science, COMSATS University Islamabad \u2013 Lahore Campus, Pakistan"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, COMSATS University Islamabad \u2013 Lahore Campus, Pakistan","institution_ids":["https://openalex.org/I16076960"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031235936","display_name":"Jan Rosell","orcid":"https://orcid.org/0000-0003-4854-2370"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jan Rosell","raw_affiliation_strings":["Institute of Industrial and Control Engineering (IOC), Universitat Polit\u00e8cnica de Catalunya (UPC) \u2013 Barcelona Tech, Spain"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial and Control Engineering (IOC), Universitat Polit\u00e8cnica de Catalunya (UPC) \u2013 Barcelona Tech, Spain","institution_ids":["https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5113875884"],"corresponding_institution_ids":["https://openalex.org/I9617848"],"apc_list":null,"apc_paid":null,"fwci":0.1663,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.49050816,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1575","last_page":"1578"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980999827384949,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.984000027179718,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8880442380905151},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8369133472442627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7269455194473267},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6383768320083618},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6119410395622253},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5553638935089111},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5414748787879944},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.450038343667984},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.44474539160728455},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.43885213136672974},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.0668020248413086},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.06648311018943787}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8880442380905151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8369133472442627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7269455194473267},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6383768320083618},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6119410395622253},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5553638935089111},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5414748787879944},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.450038343667984},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.44474539160728455},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.43885213136672974},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0668020248413086},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.06648311018943787},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/etfa.2019.8869095","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2019.8869095","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","raw_type":"proceedings-article"},{"id":"pmh:oai:upcommons.upc.edu:2117/168677","is_oa":true,"landing_page_url":"https://ioc.upc.edu/ca/personal/jan.rosell/publications/papers/2019_etfa_learning_action-oriented_grasping_for_manipulation_muhayyudinetal.pdf/view","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:recercat.cat:2072/362007","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/168677","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/submittedVersion"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/168677","is_oa":true,"landing_page_url":"https://ioc.upc.edu/ca/personal/jan.rosell/publications/papers/2019_etfa_learning_action-oriented_grasping_for_manipulation_muhayyudinetal.pdf/view","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W878798983","https://openalex.org/W1794703952","https://openalex.org/W1981667747","https://openalex.org/W2029752358","https://openalex.org/W2109163007","https://openalex.org/W2138983671","https://openalex.org/W2140173255","https://openalex.org/W2141664020"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W2657478029","https://openalex.org/W4248427955","https://openalex.org/W2106333554","https://openalex.org/W2626503888","https://openalex.org/W2037306763","https://openalex.org/W2080808138","https://openalex.org/W2129483190"],"abstract_inverted_index":{"Complex":[0],"manipulation":[1],"tasks":[2],"require":[3],"grasping":[4],"strategies":[5],"that":[6,15,118],"simultaneously":[7],"satisfy":[8],"the":[9,12,52,55,72,90,123,135],"stability":[10],"and":[11,54,62],"semantic":[13,29,44,68],"constraints":[14],"have":[16],"to":[17,23,41,57,80,106,133],"be":[18,24,58,130],"satisfied":[19],"for":[20,86,140],"an":[21],"action":[22,56],"feasible,":[25],"referred":[26],"as":[27,60,132],"action-oriented":[28,43,67],"grasp":[30,107],"strategies.":[31],"This":[32],"study":[33],"develops":[34],"a":[35,48,64,93,112],"framework":[36],"using":[37,111],"machine":[38,75],"learning":[39,76,142],"techniques":[40],"compute":[42],"grasps.":[45,69],"It":[46],"takes":[47],"3D":[49],"model":[50],"of":[51,66,74],"object":[53],"performed":[59],"input":[61],"provides":[63],"vector":[65],"We":[70],"evaluate":[71],"performance":[73],"(particularly":[77],"classification":[78,95,120],"techniques)":[79],"determine":[81],"which":[82],"approaches":[83],"perform":[84],"better":[85],"this":[87],"problem.":[88],"Using":[89],"best":[91],"approaches,":[92],"multi-model":[94,119],"technique":[96],"is":[97,102],"developed.":[98],"The":[99,115,126],"proposed":[100],"approach":[101,121],"evaluated":[103],"in":[104],"simulation":[105],"different":[108],"kitchen":[109],"objects":[110],"parallel":[113],"gripper.":[114],"results":[116],"show":[117],"enhances":[122],"prediction":[124],"accuracy.":[125],"implemented":[127],"system":[128],"can":[129],"used":[131],"automate":[134],"data":[136],"labeling":[137],"process":[138],"required":[139],"deep":[141],"approaches.":[143]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
