{"id":"https://openalex.org/W3091133300","doi":"https://doi.org/10.1109/icra40945.2020.9197124","title":"DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System","display_name":"DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091133300","doi":"https://doi.org/10.1109/icra40945.2020.9197124","mag":"3091133300"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197124","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197124","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":["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/A5055942061","display_name":"Ankur Handa","orcid":"https://orcid.org/0000-0001-5170-1323"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ankur Handa","raw_affiliation_strings":["NVIDIA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080936481","display_name":"Karl Van Wyk","orcid":"https://orcid.org/0000-0001-5535-949X"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karl Van Wyk","raw_affiliation_strings":["NVIDIA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100709270","display_name":"Wei Yang","orcid":"https://orcid.org/0000-0003-3975-2472"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Yang","raw_affiliation_strings":["NVIDIA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091443553","display_name":"Jacky Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacky Liang","raw_affiliation_strings":["NVIDIA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067607006","display_name":"Yu-Wei Chao","orcid":"https://orcid.org/0000-0002-5476-4343"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu-Wei Chao","raw_affiliation_strings":["NVIDIA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101625567","display_name":"Qian Wan","orcid":"https://orcid.org/0000-0002-7230-4332"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qian Wan","raw_affiliation_strings":["NVIDIA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040617006","display_name":"Stan Birchfield","orcid":"https://orcid.org/0000-0001-7366-2441"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stan Birchfield","raw_affiliation_strings":["NVIDIA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017897684","display_name":"Nathan Ratliff","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Ratliff","raw_affiliation_strings":["NVIDIA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"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/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dieter Fox","raw_affiliation_strings":["NVIDIA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA, USA","institution_ids":["https://openalex.org/I4210127875"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210127875"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":197,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9164","last_page":"9170"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9991999864578247,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9674009084701538},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6550108790397644},{"id":"https://openalex.org/keywords/intuition","display_name":"Intuition","score":0.5783305168151855},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5766925811767578},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5485738515853882},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5133318305015564},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5019903182983398},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4610198736190796},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4390299320220947},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3533565104007721},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3523741364479065},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20721721649169922},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11707276105880737}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9674009084701538},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6550108790397644},{"id":"https://openalex.org/C132010649","wikidata":"https://www.wikidata.org/wiki/Q189222","display_name":"Intuition","level":2,"score":0.5783305168151855},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5766925811767578},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5485738515853882},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5133318305015564},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5019903182983398},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4610198736190796},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4390299320220947},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3533565104007721},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3523741364479065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20721721649169922},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11707276105880737},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197124","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197124","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1542117797","https://openalex.org/W1966236258","https://openalex.org/W1981782232","https://openalex.org/W1993513707","https://openalex.org/W2045222441","https://openalex.org/W2074936002","https://openalex.org/W2075156252","https://openalex.org/W2075793174","https://openalex.org/W2100428290","https://openalex.org/W2114663654","https://openalex.org/W2295692686","https://openalex.org/W2586063011","https://openalex.org/W2606965392","https://openalex.org/W2768683308","https://openalex.org/W2775357942","https://openalex.org/W2783192199","https://openalex.org/W2793264449","https://openalex.org/W2896229066","https://openalex.org/W2901915167","https://openalex.org/W2947434510","https://openalex.org/W2963121255","https://openalex.org/W2963202339","https://openalex.org/W2963669336","https://openalex.org/W2967695057","https://openalex.org/W2968653604","https://openalex.org/W2968722025","https://openalex.org/W2972404073","https://openalex.org/W2997581345","https://openalex.org/W3027372030","https://openalex.org/W3031840745","https://openalex.org/W3091133300","https://openalex.org/W4236358373","https://openalex.org/W4241592314","https://openalex.org/W4294411035","https://openalex.org/W6632425279","https://openalex.org/W6737010497","https://openalex.org/W6739778489","https://openalex.org/W6744925309","https://openalex.org/W6748202546","https://openalex.org/W6756742327","https://openalex.org/W6760439459","https://openalex.org/W6768952547","https://openalex.org/W7005955626"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2145103607","https://openalex.org/W2141648055","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2078176643","https://openalex.org/W2067221866","https://openalex.org/W2013463538"],"abstract_inverted_index":{"Teleoperation":[0],"offers":[1],"the":[2,54,63,96,109,122],"possibility":[3],"of":[4,37,74,98,121],"imparting":[5],"robotic":[6,58],"systems":[7],"with":[8],"sophisticated":[9],"reasoning":[10],"skills,":[11],"intuition,":[12],"and":[13,84,90],"creativity":[14],"to":[15,70,111],"perform":[16],"tasks.":[17,118],"However,":[18],"teleoperation":[19,43],"solutions":[20],"for":[21,50,115],"high":[22,99],"degree-of-actuation":[23],"(DoA),":[24],"multi-fingered":[25],"robots":[26],"are":[27],"generally":[28],"cost-prohibitive,":[29],"while":[30],"low-cost":[31],"offerings":[32],"usually":[33],"offer":[34],"reduced":[35],"degrees":[36],"control.":[38],"Herein,":[39],"a":[40,72],"low-cost,":[41],"depth-based":[42],"system,":[44],"DexPilot,":[45],"was":[46,86],"developed":[47],"that":[48,78,104],"allows":[49],"complete":[51],"control":[52],"over":[53],"full":[55],"23":[56],"DoA":[57],"system":[59],"by":[60],"merely":[61],"observing":[62],"bare":[64],"human":[65],"hand.":[66],"DexPilot":[67,93],"enabled":[68],"operators":[69],"solve":[71],"variety":[73],"complex":[75],"manipulation":[76,117],"tasks":[77],"go":[79],"beyond":[80],"simple":[81],"pick-and-place":[82],"operations":[83],"performance":[85],"measured":[87],"through":[88],"speed":[89],"reliability":[91],"metrics.":[92],"cost-effectively":[94],"enables":[95],"production":[97],"dimensional,":[100],"multi-modality,":[101],"state-action":[102],"data":[103],"can":[105,124],"be":[106,125],"leveraged":[107],"in":[108],"future":[110],"learn":[112],"sensorimotor":[113],"policies":[114],"challenging":[116],"The":[119],"videos":[120],"experiments":[123],"found":[126],"at":[127],"https://sites.google.com/view/dex-pilot.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":58},{"year":2024,"cited_by_count":39},{"year":2023,"cited_by_count":27},{"year":2022,"cited_by_count":28},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}