{"id":"https://openalex.org/W2053494425","doi":"https://doi.org/10.1109/humanoids.2013.7030015","title":"Predicting slippage and learning manipulation affordances through Gaussian Process regression","display_name":"Predicting slippage and learning manipulation affordances through Gaussian Process regression","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2053494425","doi":"https://doi.org/10.1109/humanoids.2013.7030015","mag":"2053494425"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2013.7030015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2013.7030015","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-134125","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082319448","display_name":"Francisco E. Vi\u00f1a B.","orcid":null},"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":"Francisco E. Vina B","raw_affiliation_strings":["Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology KTH, SE-100 44 Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology KTH, SE-100 44 Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015300584","display_name":"Yasemin Bekiroglu","orcid":"https://orcid.org/0000-0002-2597-6013"},"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":"Yasemin Bekiroglu","raw_affiliation_strings":["Computer Vision and Active Perception Lab, Royal Institute of Technology KTH, Stockholm, Sweden","Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab, Royal Institute of Technology KTH, 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, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060213000","display_name":"Christian Smith","orcid":"https://orcid.org/0000-0003-2078-8854"},"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":"Christian Smith","raw_affiliation_strings":["Computer Vision and Active Perception Lab, Royal Institute of Technology KTH, Stockholm, Sweden","Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab, Royal Institute of Technology KTH, 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, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066684950","display_name":"Yiannis Karayiannidis","orcid":"https://orcid.org/0000-0001-5129-342X"},"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":"Yiannis Karayiannidis","raw_affiliation_strings":["Computer Vision and Active Perception Lab, Royal Institute of Technology KTH, Stockholm, Sweden","Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab, Royal Institute of Technology KTH, 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, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","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, Royal Institute of Technology KTH, Stockholm, Sweden","Computer Vision and Active Perception Lab., Centre for Autonomous Systems, School of Computer Science and Communication, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab, Royal Institute of Technology KTH, 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, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden#TAB#","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5082319448"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":1.5258,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.85289851,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"5","issue":null,"first_page":"462","last_page":"468"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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":0.9990000128746033,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.963100016117096,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.958899974822998,"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/slippage","display_name":"Slippage","score":0.868402898311615},{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.7308154702186584},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7222856283187866},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6748285889625549},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6263112425804138},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5754225850105286},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5463821887969971},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5339264869689941},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.49032023549079895},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4813288450241089},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45014458894729614},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.44233161211013794},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37516242265701294},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2906404137611389},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.2870441675186157},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19087862968444824},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07002153992652893},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.0642031729221344},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06351903080940247}],"concepts":[{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.868402898311615},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.7308154702186584},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7222856283187866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6748285889625549},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6263112425804138},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5754225850105286},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5463821887969971},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5339264869689941},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.49032023549079895},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4813288450241089},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45014458894729614},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.44233161211013794},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37516242265701294},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2906404137611389},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.2870441675186157},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19087862968444824},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07002153992652893},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0642031729221344},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06351903080940247},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/humanoids.2013.7030015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2013.7030015","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.707.8074","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.707.8074","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cas.kth.se/%7Eccs/Publications/humanoids13a.pdf","raw_type":"text"},{"id":"pmh:oai:DiVA.org:kth-134125","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-134125","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":"pmh:oai:DiVA.org:kth-134125","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-134125","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"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3184267207","display_name":null,"funder_award_id":"288533","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5483342299","display_name":null,"funder_award_id":"FP7-ICT","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6237573018","display_name":null,"funder_award_id":"288533","funder_id":"https://openalex.org/F4320338370","funder_display_name":"FP7 Information and Communication Technologies"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320940","display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning","ror":"https://ror.org/044wr7g58"},{"id":"https://openalex.org/F4320322581","display_name":"Vetenskapsr\u00e5det","ror":"https://ror.org/03zttf063"},{"id":"https://openalex.org/F4320338370","display_name":"FP7 Information and Communication Technologies","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1580568969","https://openalex.org/W1746819321","https://openalex.org/W1776391213","https://openalex.org/W1794703952","https://openalex.org/W1820657498","https://openalex.org/W1968565040","https://openalex.org/W1994988311","https://openalex.org/W2015089916","https://openalex.org/W2021473074","https://openalex.org/W2031365393","https://openalex.org/W2047887570","https://openalex.org/W2096507847","https://openalex.org/W2102727145","https://openalex.org/W2115669646","https://openalex.org/W2125790828","https://openalex.org/W2127642969","https://openalex.org/W2136364779","https://openalex.org/W2156886697","https://openalex.org/W2157094900","https://openalex.org/W2166527963","https://openalex.org/W2171130677","https://openalex.org/W4211049957","https://openalex.org/W6634616096","https://openalex.org/W6642536418"],"related_works":["https://openalex.org/W2917225013","https://openalex.org/W566010457","https://openalex.org/W2600092203","https://openalex.org/W4293503520","https://openalex.org/W4300066510","https://openalex.org/W2056958800","https://openalex.org/W2803685231","https://openalex.org/W3134152097","https://openalex.org/W4311388919","https://openalex.org/W2966696655"],"abstract_inverted_index":{"Object":[0],"grasping":[1],"is":[2],"commonly":[3],"followed":[4],"by":[5],"some":[6],"form":[7],"of":[8,49],"object":[9,17],"manipulation":[10,31],"-":[11],"either":[12],"when":[13],"using":[14],"the":[15,27,54,60],"grasped":[16],"as":[18],"a":[19],"tool":[20],"or":[21,57],"actively":[22],"changing":[23],"its":[24],"position":[25],"in":[26],"hand":[28],"through":[29],"in-hand":[30],"to":[32,43,53],"afford":[33],"further":[34],"interaction.":[35],"In":[36],"this":[37],"process,":[38],"slippage":[39],"may":[40],"occur":[41],"due":[42,52],"inappropriate":[44],"contact":[45],"forces,":[46],"various":[47],"types":[48],"noise":[50],"and/or":[51],"unexpected":[55],"interaction":[56],"collision":[58],"with":[59],"environment.":[61]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}