{"id":"https://openalex.org/W2413352307","doi":"https://doi.org/10.1109/icra.2016.7487133","title":"Probabilistic consolidation of grasp experience","display_name":"Probabilistic consolidation of grasp experience","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2413352307","doi":"https://doi.org/10.1109/icra.2016.7487133","mag":"2413352307"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487133","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1983/8db82ef9-cc29-49b0-be25-36573e38346b","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015300584","display_name":"Yasemin Bekiroglu","orcid":"https://orcid.org/0000-0002-2597-6013"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Yasemin Bekiroglu","raw_affiliation_strings":["School of Mechanical Engineering, University of Birmingham, UK"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114706123","display_name":"Andreas Damianou","orcid":"https://orcid.org/0009-0007-7194-4155"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andreas Damianou","raw_affiliation_strings":["School of Mechanical Engineering, University of Birmingham, UK"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049896600","display_name":"Renaud Detry","orcid":"https://orcid.org/0000-0003-0597-1167"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Renaud Detry","raw_affiliation_strings":["School of Mechanical Engineering, University of Birmingham, UK"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023785357","display_name":"Johannes A. Stork","orcid":"https://orcid.org/0000-0003-3958-6179"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Johannes A. Stork","raw_affiliation_strings":["School of Mechanical Engineering, University of Birmingham, UK"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]}]},{"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/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Danica Kragic","raw_affiliation_strings":["School of Mechanical Engineering, University of Birmingham, UK"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022800415","display_name":"Carl Henrik Ek","orcid":"https://orcid.org/0000-0003-1302-6309"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Carl Henrik Ek","raw_affiliation_strings":["School of Mechanical Engineering, University of Birmingham, UK"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5015300584"],"corresponding_institution_ids":["https://openalex.org/I79619799"],"apc_list":null,"apc_paid":null,"fwci":1.6242,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.84515115,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"193","last_page":"200"},"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/T10982","display_name":"Motor Control and Adaptation","score":0.9839000105857849,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9787999987602234,"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":0.9226851463317871},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7873599529266357},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7128137350082397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.705349326133728},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5934682488441467},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5284913778305054},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.518057107925415},{"id":"https://openalex.org/keywords/latent-variable-model","display_name":"Latent variable model","score":0.5038039088249207},{"id":"https://openalex.org/keywords/latent-variable","display_name":"Latent variable","score":0.491233766078949},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4878392517566681},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.48220837116241455},{"id":"https://openalex.org/keywords/statistical-model","display_name":"Statistical model","score":0.44672852754592896},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42543622851371765},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3780708611011505},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15473425388336182}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9226851463317871},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7873599529266357},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7128137350082397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.705349326133728},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5934682488441467},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5284913778305054},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.518057107925415},{"id":"https://openalex.org/C65965080","wikidata":"https://www.wikidata.org/wiki/Q1806885","display_name":"Latent variable model","level":3,"score":0.5038039088249207},{"id":"https://openalex.org/C51167844","wikidata":"https://www.wikidata.org/wiki/Q4422623","display_name":"Latent variable","level":2,"score":0.491233766078949},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4878392517566681},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.48220837116241455},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.44672852754592896},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42543622851371765},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3780708611011505},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15473425388336182},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2016.7487133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487133","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:research-information.bris.ac.uk:publications/8db82ef9-cc29-49b0-be25-36573e38346b","is_oa":true,"landing_page_url":"https://hdl.handle.net/1983/8db82ef9-cc29-49b0-be25-36573e38346b","pdf_url":null,"source":{"id":"https://openalex.org/S7407055359","display_name":"Explore Bristol Research","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":"Bekiroglu, Y, Damianou, A, Detry, R, Stork, J A, Kragic, D & Ek, C H 2016, Probabilistic consolidation of grasp experience. in 2016 IEEE International Conference on Robotics and Automation (ICRA 2016) : Proceedings of a meeting held 16-21 May 2016, Stockholm, Sweden. Institute of Electrical and Electronics Engineers (IEEE), pp. 193-200. https://doi.org/10.1109/ICRA.2016.7487133","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:research-information.bris.ac.uk:publications/8db82ef9-cc29-49b0-be25-36573e38346b","is_oa":false,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/8db82ef9-cc29-49b0-be25-36573e38346b","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:research.chalmers.se:518850","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/518850","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:research-information.bris.ac.uk:publications/8db82ef9-cc29-49b0-be25-36573e38346b","is_oa":true,"landing_page_url":"https://hdl.handle.net/1983/8db82ef9-cc29-49b0-be25-36573e38346b","pdf_url":null,"source":{"id":"https://openalex.org/S7407055359","display_name":"Explore Bristol Research","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":"Bekiroglu, Y, Damianou, A, Detry, R, Stork, J A, Kragic, D & Ek, C H 2016, Probabilistic consolidation of grasp experience. in 2016 IEEE International Conference on Robotics and Automation (ICRA 2016) : Proceedings of a meeting held 16-21 May 2016, Stockholm, Sweden. Institute of Electrical and Electronics Engineers (IEEE), pp. 193-200. https://doi.org/10.1109/ICRA.2016.7487133","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1504412219","https://openalex.org/W1567512734","https://openalex.org/W1820657498","https://openalex.org/W1970078615","https://openalex.org/W1986303954","https://openalex.org/W2005824379","https://openalex.org/W2036637075","https://openalex.org/W2048432791","https://openalex.org/W2055845079","https://openalex.org/W2057299504","https://openalex.org/W2068641309","https://openalex.org/W2085583171","https://openalex.org/W2095800081","https://openalex.org/W2102727145","https://openalex.org/W2110274708","https://openalex.org/W2115918762","https://openalex.org/W2116804945","https://openalex.org/W2153573756","https://openalex.org/W2467379829","https://openalex.org/W3112422759","https://openalex.org/W3128632218","https://openalex.org/W6630095734","https://openalex.org/W6643136816","https://openalex.org/W6676547240","https://openalex.org/W6677403968","https://openalex.org/W6790889656","https://openalex.org/W7047481091"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W4287201739","https://openalex.org/W3214990115","https://openalex.org/W2461917396","https://openalex.org/W1966667550","https://openalex.org/W2037497866","https://openalex.org/W4243467573"],"abstract_inverted_index":{"We":[0,57,84,122],"present":[1],"a":[2,16,88,110,127],"probabilistic":[3,22],"model":[4,25,42,63,125,130],"for":[5,64],"joint":[6],"representation":[7],"of":[8,34,61,139],"several":[9],"sensory":[10],"modalities":[11],"and":[12,36,47,76,94,103,117],"action":[13],"parameters":[14],"in":[15,39,133,136],"robotic":[17],"grasping":[18],"scenario.":[19],"Our":[20],"non-linear":[21],"latent":[23],"variable":[24],"encodes":[26],"relationships":[27],"between":[28,45],"grasp-related":[29],"parameters,":[30],"learns":[31,43],"the":[32,59,62,99],"importance":[33],"features,":[35],"expresses":[37],"confidence":[38],"estimates.":[40],"The":[41],"associations":[44],"stable":[46],"unstable":[48],"grasps":[49,135],"that":[50,131],"it":[51],"experiences":[52],"during":[53],"an":[54],"exploration":[55],"phase.":[56],"demonstrate":[58],"applicability":[60],"estimating":[65],"grasp":[66],"stability,":[67],"correcting":[68,134],"grasps,":[69],"identifying":[70],"objects":[71,98],"based":[72],"on":[73,87,114,119],"tactile":[74,78],"imprints":[75,79],"predicting":[77],"from":[80],"object-relative":[81],"gripper":[82],"poses.":[83],"performed":[85],"experiments":[86],"real":[89],"platform":[90],"with":[91],"both":[92],"known":[93,115],"novel":[95],"objects,":[96,116],"i.e.,":[97],"robot":[100],"trained":[101],"with,":[102],"previously":[104],"unseen":[105],"objects.":[106,121],"Grasp":[107],"correction":[108],"had":[109],"75%":[111],"success":[112],"rate":[113],"73%":[118],"new":[120],"compared":[123],"our":[124],"to":[126],"traditional":[128],"regression":[129],"succeeded":[132],"only":[137],"38%":[138],"cases.":[140]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}