{"id":"https://openalex.org/W2978864797","doi":"https://doi.org/10.1109/icra40945.2020.9196981","title":"Learning Continuous 3D Reconstructions for Geometrically Aware Grasping","display_name":"Learning Continuous 3D Reconstructions for Geometrically Aware Grasping","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2978864797","doi":"https://doi.org/10.1109/icra40945.2020.9196981","mag":"2978864797"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196981","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196981","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.00983","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042652043","display_name":"Mark Van der Merwe","orcid":null},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Van der Merwe","raw_affiliation_strings":["School of Computing and Robotics Center, University of Utah, Salt Lake City, UT, USA","University of Utah,School of Computing and Robotics Center,Salt Lake City,UT,USA,84112"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing and Robotics Center, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"University of Utah,School of Computing and Robotics Center,Salt Lake City,UT,USA,84112","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028872990","display_name":"Qingkai Lu","orcid":"https://orcid.org/0000-0002-3820-475X"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qingkai Lu","raw_affiliation_strings":["School of Computing and Robotics Center, University of Utah, Salt Lake City, UT, USA","University of Utah,School of Computing and Robotics Center,Salt Lake City,UT,USA,84112"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing and Robotics Center, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"University of Utah,School of Computing and Robotics Center,Salt Lake City,UT,USA,84112","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053446613","display_name":"Balakumar Sundaralingam","orcid":"https://orcid.org/0000-0003-3106-4755"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Balakumar Sundaralingam","raw_affiliation_strings":["School of Computing and Robotics Center, University of Utah, Salt Lake City, UT, USA","University of Utah,School of Computing and Robotics Center,Salt Lake City,UT,USA,84112"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing and Robotics Center, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"University of Utah,School of Computing and Robotics Center,Salt Lake City,UT,USA,84112","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011875822","display_name":"Martin Matak","orcid":"https://orcid.org/0000-0001-8740-9199"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Martin Matak","raw_affiliation_strings":["School of Computing and Robotics Center, University of Utah, Salt Lake City, UT, USA","University of Utah,School of Computing and Robotics Center,Salt Lake City,UT,USA,84112"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing and Robotics Center, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"University of Utah,School of Computing and Robotics Center,Salt Lake City,UT,USA,84112","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000432183","display_name":"Tucker Hermans","orcid":"https://orcid.org/0000-0003-2496-2768"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tucker Hermans","raw_affiliation_strings":["School of Computing and Robotics Center, University of Utah, Salt Lake City, UT, USA","University of Utah,School of Computing and Robotics Center,Salt Lake City,UT,USA,84112"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing and Robotics Center, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"University of Utah,School of Computing and Robotics Center,Salt Lake City,UT,USA,84112","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I223532165"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11516","last_page":"11522"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9714999794960022,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9707000255584717,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9752871990203857},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7199862003326416},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7101507186889648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6550785303115845},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5617783665657043},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.510660707950592},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5016660690307617},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.45901763439178467},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43502962589263916}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9752871990203857},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7199862003326416},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7101507186889648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6550785303115845},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5617783665657043},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.510660707950592},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5016660690307617},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.45901763439178467},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43502962589263916},{"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9196981","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196981","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1910.00983","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.00983","pdf_url":"https://arxiv.org/pdf/1910.00983","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:2978864797","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1910.00983.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1910.00983","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.00983","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.00983","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.00983","pdf_url":"https://arxiv.org/pdf/1910.00983","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8022763381","display_name":"CRII: RI: Enabling Manipulation of Object Collections via Self-Supervised Robot Learning","funder_award_id":"1657596","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8973336510","display_name":"CAREER: Improving Multi-Fingered Manipulation by Unifying Learning and Planning","funder_award_id":"1846341","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2978864797.pdf","grobid_xml":"https://content.openalex.org/works/W2978864797.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1503925285","https://openalex.org/W1505952289","https://openalex.org/W1594366634","https://openalex.org/W1946176756","https://openalex.org/W1999156278","https://openalex.org/W1999250663","https://openalex.org/W2005824379","https://openalex.org/W2036637075","https://openalex.org/W2161819990","https://openalex.org/W2201912979","https://openalex.org/W2205950488","https://openalex.org/W2342277278","https://openalex.org/W2511691466","https://openalex.org/W2524140598","https://openalex.org/W2577484822","https://openalex.org/W2909559186","https://openalex.org/W2910474428","https://openalex.org/W2962722175","https://openalex.org/W2962736495","https://openalex.org/W2962746398","https://openalex.org/W2962849139","https://openalex.org/W2963121255","https://openalex.org/W2963199973","https://openalex.org/W2963231572","https://openalex.org/W2963627347","https://openalex.org/W2963926543","https://openalex.org/W2967463212","https://openalex.org/W3003296541","https://openalex.org/W3004167188","https://openalex.org/W3014041360","https://openalex.org/W3023978817","https://openalex.org/W3112422759","https://openalex.org/W3216204317","https://openalex.org/W6640255469","https://openalex.org/W6697071109","https://openalex.org/W6725627366","https://openalex.org/W6739778489","https://openalex.org/W6750987562"],"related_works":["https://openalex.org/W3175388581","https://openalex.org/W2736534894","https://openalex.org/W2561285239","https://openalex.org/W2083181129","https://openalex.org/W2556722685","https://openalex.org/W2562087194","https://openalex.org/W3136875090","https://openalex.org/W3151839396","https://openalex.org/W2060698516","https://openalex.org/W3000575545","https://openalex.org/W2973777303","https://openalex.org/W2148039568","https://openalex.org/W2273288572","https://openalex.org/W3127246939","https://openalex.org/W2771865340","https://openalex.org/W3128482623","https://openalex.org/W2161047498","https://openalex.org/W3179479370","https://openalex.org/W2041376653","https://openalex.org/W3168857782"],"abstract_inverted_index":{"Deep":[0],"learning":[1,45],"has":[2],"enabled":[3],"remarkable":[4],"improvements":[5],"in":[6,74,123,126],"grasp":[7,46,89,101,130],"synthesis":[8],"for":[9,98],"previously":[10],"unseen":[11],"objects":[12],"from":[13],"partial":[14],"object":[15,33,59],"views.":[16],"However,":[17],"existing":[18],"approaches":[19],"lack":[20],"the":[21,27,32,80,83,95,107,115,119,127],"ability":[22],"to":[23,63,70,86,109],"explicitly":[24,105],"reason":[25],"about":[26],"full":[28],"3D":[29,68],"geometry":[30,122],"of":[31,82,121,129],"when":[34,44],"selecting":[35],"a":[36,65,75,88,99],"grasp,":[37],"relying":[38],"on":[39,143],"indirect":[40],"geometric":[41,52,72],"reasoning":[42],"derived":[43],"success":[47,90],"networks.":[48],"This":[49],"abandons":[50],"explicit":[51],"reasoning,":[53],"such":[54],"as":[55,94],"avoiding":[56],"undesired":[57,111],"robot":[58,135],"collisions.":[60],"We":[61,78,103,117],"propose":[62],"utilize":[64],"novel,":[66],"learned":[67],"reconstruction":[69,84],"enable":[71],"awareness":[73],"grasping":[76,124,136],"system.":[77],"leverage":[79],"structure":[81],"network":[85],"learn":[87],"classifier":[91],"which":[92],"serves":[93],"objective":[96],"function":[97],"continuous":[100],"optimization.":[102],"additionally":[104],"constrain":[106],"optimization":[108],"avoid":[110],"contact,":[112],"directly":[113],"using":[114],"reconstruction.":[116],"examine":[118],"role":[120],"both":[125],"training":[128],"metrics":[131],"and":[132],"through":[133],"96":[134],"trials.":[137],"Our":[138],"results":[139],"can":[140],"be":[141],"found":[142],"https://sites.google.com/view/reconstruction-grasp/.":[144]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
