{"id":"https://openalex.org/W1562076358","doi":"https://doi.org/10.1109/icra.2015.7139864","title":"Active exploration using trajectory optimization for robotic grasping in the presence of occlusions","display_name":"Active exploration using trajectory optimization for robotic grasping in the presence of occlusions","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1562076358","doi":"https://doi.org/10.1109/icra.2015.7139864","mag":"1562076358"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139864","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139864","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 Robotics and Automation (ICRA)","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/A5064156720","display_name":"Gregory Kahn","orcid":"https://orcid.org/0000-0003-1771-6147"},"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":"Gregory Kahn","raw_affiliation_strings":["Departmental of Electrical Engineering and Computer Sciences","University of California, Berxeley, CA, Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departmental of Electrical Engineering and Computer Sciences","institution_ids":[]},{"raw_affiliation_string":"University of California, Berxeley, CA, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053972838","display_name":"Peter Sujan","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":"Peter Sujan","raw_affiliation_strings":["Departmental of Electrical Engineering and Computer Sciences","University of California, Berxeley, CA, Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departmental of Electrical Engineering and Computer Sciences","institution_ids":[]},{"raw_affiliation_string":"University of California, Berxeley, CA, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071959206","display_name":"Sachin Patil","orcid":"https://orcid.org/0000-0002-6247-2295"},"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":["Departmental of Electrical Engineering and Computer Sciences","University of California, Berxeley, CA, Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departmental of Electrical Engineering and Computer Sciences","institution_ids":[]},{"raw_affiliation_string":"University of California, Berxeley, CA, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032061347","display_name":"Shaunak D. Bopardikar","orcid":"https://orcid.org/0000-0002-0813-7867"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shaunak Bopardikar","raw_affiliation_strings":["United Technologies Research Center Inc., Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"United Technologies Research Center Inc., Berkeley, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064257168","display_name":"Julian Ryde","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Julian Ryde","raw_affiliation_strings":["United Technologies Research Center Inc., Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"United Technologies Research Center Inc., Berkeley, CA, USA","institution_ids":[]}]},{"author_position":"middle","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, Department of Electrical Engineering and Computer Sciences","University of California, Berxeley, CA, Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering and Operations Research, Department of Electrical Engineering and Computer Sciences","institution_ids":[]},{"raw_affiliation_string":"University of California, Berxeley, CA, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","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":["Departmental of Electrical Engineering and Computer Sciences","University of California, Berxeley, CA, Berkeley"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departmental of Electrical Engineering and Computer Sciences","institution_ids":[]},{"raw_affiliation_string":"University of California, Berxeley, CA, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.4532,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.9561813,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4783","last_page":"4790"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.827669084072113},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7799858450889587},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7145951986312866},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7068818807601929},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6950140595436096},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5386462211608887},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4682556092739105},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.44315510988235474},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.442588746547699},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.4200923442840576},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1178993284702301}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.827669084072113},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7799858450889587},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7145951986312866},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7068818807601929},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6950140595436096},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5386462211608887},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4682556092739105},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.44315510988235474},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.442588746547699},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.4200923442840576},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1178993284702301},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139864","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139864","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 Robotics and Automation (ICRA)","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":48,"referenced_works":["https://openalex.org/W20791675","https://openalex.org/W70651934","https://openalex.org/W80905443","https://openalex.org/W292508636","https://openalex.org/W1176413013","https://openalex.org/W1529817735","https://openalex.org/W1684737195","https://openalex.org/W1820657498","https://openalex.org/W1941409503","https://openalex.org/W1953914880","https://openalex.org/W1987648924","https://openalex.org/W1989823960","https://openalex.org/W2023509699","https://openalex.org/W2023716923","https://openalex.org/W2034939775","https://openalex.org/W2041094000","https://openalex.org/W2041376653","https://openalex.org/W2056554710","https://openalex.org/W2069023745","https://openalex.org/W2070683816","https://openalex.org/W2073008742","https://openalex.org/W2082219174","https://openalex.org/W2093725709","https://openalex.org/W2101024363","https://openalex.org/W2106270058","https://openalex.org/W2107667896","https://openalex.org/W2121734178","https://openalex.org/W2129652899","https://openalex.org/W2129818002","https://openalex.org/W2142924305","https://openalex.org/W2152864241","https://openalex.org/W2157608279","https://openalex.org/W2161674001","https://openalex.org/W2164429173","https://openalex.org/W2171960444","https://openalex.org/W2295221097","https://openalex.org/W2396198684","https://openalex.org/W2985391204","https://openalex.org/W3102923851","https://openalex.org/W4241088297","https://openalex.org/W4251902048","https://openalex.org/W6603232429","https://openalex.org/W6627640760","https://openalex.org/W6631664056","https://openalex.org/W6640897844","https://openalex.org/W6640935688","https://openalex.org/W6656128255","https://openalex.org/W6678073246"],"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/W2019547100","https://openalex.org/W2362018761"],"abstract_inverted_index":{"We":[0,29,141,156],"consider":[1],"the":[2,17,35,45,54,57,73,89,103,109,112,115,139,148,152,173,185,198],"task":[3],"of":[4,13,21,44,56,72,111,114,122,138,176,184,197],"actively":[5,161],"exploring":[6,162],"unstructured":[7],"environments":[8],"to":[9,38,52,61,77,92,100,151,172],"facilitate":[10],"robotic":[11],"grasping":[12],"occluded":[14,70,116,126],"objects.":[15],"Typically,":[16],"geometry":[18],"and":[19,163,203],"locations":[20],"these":[22],"objects":[23],"are":[24],"not":[25],"known":[26],"a":[27,40,120,136,144],"priori.":[28],"mount":[30],"an":[31],"RGB-D":[32],"sensor":[33,58],"on":[34],"robot":[36,149],"gripper":[37],"maintain":[39],"3D":[41],"voxel":[42,105],"map":[43],"environment":[46],"during":[47],"exploration.":[48],"The":[49],"objective":[50],"is":[51,98],"plan":[53,143],"motion":[55],"in":[59],"order":[60],"search":[62],"for":[63,147],"feasible":[64],"grasp":[65,94,117,154,208],"handles":[66,118],"that":[67,80,170],"lie":[68],"within":[69],"regions":[71],"map.":[74],"In":[75],"contrast":[76],"prior":[78],"work":[79],"generates":[81],"exploration":[82,90,133,189],"trajectories":[83],"by":[84,134,160],"sampling,":[85],"we":[86,107],"directly":[87],"optimize":[88,101],"trajectory":[91,129,146,192],"find":[93],"handles.":[95],"Since":[96],"it":[97],"challenging":[99],"over":[102],"discrete":[104],"map,":[106],"encode":[108],"uncertainty":[110],"positions":[113],"as":[119],"mixture":[121],"Gaussians,":[123],"one":[124],"per":[125],"region.":[127],"Our":[128,167],"optimization":[130,193],"approach":[131,159],"encourages":[132],"penalizing":[135],"measure":[137],"uncertainty.":[140],"then":[142],"collision-free":[145],"arm":[150],"detected":[153],"handle.":[155],"evaluated":[157],"our":[158,187],"attempting":[164],"300":[165],"grasps.":[166],"experiments":[168],"suggest":[169],"compared":[171],"baseline":[174],"method":[175],"sampling":[177],"10":[178],"trajectories,":[179],"which":[180],"successfully":[181,194],"grasped":[182,195],"58%":[183],"objects,":[186,199],"active":[188],"formulation":[190],"with":[191],"93%":[196],"was":[200],"1.3\u00d7":[201],"faster,":[202],"had":[204],"3.2\u00d7":[205],"fewer":[206],"failed":[207],"attempts.":[209]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
