{"id":"https://openalex.org/W2014568170","doi":"https://doi.org/10.1109/icra.2012.6224575","title":"Interactive singulation of objects from a pile","display_name":"Interactive singulation of objects from a pile","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2014568170","doi":"https://doi.org/10.1109/icra.2012.6224575","mag":"2014568170"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224575","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5109249478","display_name":"Lillian Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lillian Chang","raw_affiliation_strings":["The Department of Computer Science & Engineering, University of Washington, Seattle, WA, USA","Intel Corporation, at the University of Washington Intel Science and Technology Center, Seattle, USA"],"affiliations":[{"raw_affiliation_string":"The Department of Computer Science & Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Intel Corporation, at the University of Washington Intel Science and Technology Center, Seattle, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019043770","display_name":"Joshua R. Smith","orcid":"https://orcid.org/0000-0002-5331-4770"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua R. Smith","raw_affiliation_strings":["The Department of Computer Science & Engineering, University of Washington, Seattle, WA, USA","Department of Computer Science & Engineering, University of Washington, Seattle, USA"],"affiliations":[{"raw_affiliation_string":"The Department of Computer Science & Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Computer Science & Engineering, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I201448701","https://openalex.org/I58610484"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108257764","display_name":"Dieter Fox","orcid":"https://orcid.org/0009-0009-4694-9127"},"institutions":[{"id":"https://openalex.org/I58610484","display_name":"Seattle University","ror":"https://ror.org/02jqc0m91","country_code":"US","type":"education","lineage":["https://openalex.org/I58610484"]},{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dieter Fox","raw_affiliation_strings":["The Department of Computer Science & Engineering, University of Washington, Seattle, WA, USA","Department of Computer Science & Engineering, University of Washington, Seattle, USA"],"affiliations":[{"raw_affiliation_string":"The Department of Computer Science & Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Computer Science & Engineering, University of Washington, Seattle, USA","institution_ids":["https://openalex.org/I201448701","https://openalex.org/I58610484"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5109249478"],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":19.8465,"has_fulltext":false,"cited_by_count":111,"citation_normalized_percentile":{"value":0.9938796,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3875","last_page":"3882"},"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/pile","display_name":"Pile","score":0.8297374844551086},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7483413219451904},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6240201592445374},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6094619631767273},{"id":"https://openalex.org/keywords/sorting","display_name":"Sorting","score":0.5955966114997864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5876314043998718},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47520360350608826},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.11008068919181824},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09997865557670593},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07605507969856262}],"concepts":[{"id":"https://openalex.org/C119560385","wikidata":"https://www.wikidata.org/wiki/Q7193850","display_name":"Pile","level":2,"score":0.8297374844551086},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7483413219451904},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6240201592445374},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6094619631767273},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.5955966114997864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5876314043998718},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47520360350608826},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.11008068919181824},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09997865557670593},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07605507969856262},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6224575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224575","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.409.5550","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.409.5550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.washington.edu/ai/Mobile_Robotics/projects/activity-recognition/postscripts/object-singulation-icra-12.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W143499627","https://openalex.org/W1857097009","https://openalex.org/W1988785119","https://openalex.org/W2017556673","https://openalex.org/W2043066056","https://openalex.org/W2065486014","https://openalex.org/W2076593519","https://openalex.org/W2101128524","https://openalex.org/W2106270058","https://openalex.org/W2107721468","https://openalex.org/W2115519999","https://openalex.org/W2125579716","https://openalex.org/W2127514693","https://openalex.org/W2131283635","https://openalex.org/W2155370467","https://openalex.org/W2165830610","https://openalex.org/W6682934443"],"related_works":["https://openalex.org/W2079089822","https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2769011817","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2362662511"],"abstract_inverted_index":{"Interaction":[0],"with":[1,59,119,156],"unstructured":[2],"groups":[3],"of":[4,25,64,77,89,100,163],"objects":[5],"allows":[6],"a":[7,20,29,53,78,82,107,147],"robot":[8,109],"to":[9,81,130],"discover":[10],"and":[11,91,136,153,159],"manipulate":[12],"novel":[13],"items":[14,27,51,66],"in":[15,52],"cluttered":[16],"environments.":[17],"We":[18],"present":[19],"framework":[21,33,103],"for":[22,38,110,150,167],"interactive":[23,116],"singulation":[24,102,117,169],"individual":[26],"from":[28,94],"pile.":[30,54],"The":[31,114],"proposed":[32,115],"provides":[34],"an":[35,111,160],"overall":[36],"approach":[37],"tasks":[39],"involving":[40],"operation":[41],"on":[42,86,106,126],"multiple":[43,68],"objects,":[44],"such":[45],"as":[46],"counting,":[47],"arranging,":[48],"or":[49],"sorting":[50],"A":[55,71],"perception":[56,96,135,152],"module":[57,73],"combined":[58],"pushing":[60,121],"actions":[61],"accumulates":[62],"evidence":[63],"singulated":[65],"over":[67],"pile":[69,80,84,144],"interactions.":[70],"decision":[72,137],"scores":[74],"the":[75,87,95,101,123,134,142,164],"likelihood":[76],"single-item":[79],"multiple-item":[83],"based":[85],"magnitude":[88],"motion":[90],"matching":[92],"determined":[93],"module.":[97],"Three":[98],"variations":[99],"were":[104],"evaluated":[105],"physical":[108],"arrangement":[112],"task.":[113],"method":[118,149],"adaptive":[120],"reduces":[122],"grasp":[124,157],"errors":[125],"non-singulated":[127],"piles":[128],"compared":[129],"alternative":[131],"methods":[132],"without":[133],"modules.":[138],"This":[139],"work":[140],"contributes":[141],"general":[143],"interaction":[145],"framework,":[146],"specific":[148],"integrating":[151],"action":[154],"plans":[155],"decisions,":[158],"experimental":[161],"evaluation":[162],"cost":[165],"trade-offs":[166],"different":[168],"methods.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":14},{"year":2012,"cited_by_count":6}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
