{"id":"https://openalex.org/W2975778881","doi":"https://doi.org/10.1109/icra40945.2020.9197447","title":"Learning an Action-Conditional Model for Haptic Texture Generation","display_name":"Learning an Action-Conditional Model for Haptic Texture Generation","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2975778881","doi":"https://doi.org/10.1109/icra40945.2020.9197447","mag":"2975778881"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197447","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.13025","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039819189","display_name":"Negin Heravi","orcid":"https://orcid.org/0009-0008-1446-9703"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Negin Heravi","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University","Stanford University ()"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055947140","display_name":"Wenzhen Yuan","orcid":"https://orcid.org/0000-0001-8014-356X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenzhen Yuan","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University","Stanford University ()"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University","Stanford University ()"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021676288","display_name":"Jeannette Bohg","orcid":"https://orcid.org/0000-0002-4921-7193"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeannette Bohg","raw_affiliation_strings":["Department of Computer Science, Stanford University","Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5039819189"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":0.12552618,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.39113886,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"11088","last_page":"11095"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998000264167786,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9966999888420105,"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9926000237464905,"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/haptic-technology","display_name":"Haptic technology","score":0.9014450311660767},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7913854122161865},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7798119783401489},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6324151754379272},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5938611626625061},{"id":"https://openalex.org/keywords/texture","display_name":"Texture (cosmology)","score":0.46914878487586975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4358604848384857},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.4214285910129547},{"id":"https://openalex.org/keywords/user-interface","display_name":"User interface","score":0.4174952805042267},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32300901412963867},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18175581097602844},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.09983402490615845}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.9014450311660767},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7913854122161865},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7798119783401489},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6324151754379272},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5938611626625061},{"id":"https://openalex.org/C2781195486","wikidata":"https://www.wikidata.org/wiki/Q289436","display_name":"Texture (cosmology)","level":3,"score":0.46914878487586975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4358604848384857},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.4214285910129547},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.4174952805042267},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32300901412963867},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18175581097602844},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.09983402490615845},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9197447","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197447","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:1909.13025","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.13025","pdf_url":"https://arxiv.org/pdf/1909.13025","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:2975778881","is_oa":true,"landing_page_url":"http://export.arxiv.org/abs/1909.13025","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.1909.13025","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1909.13025","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":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.13025","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.13025","pdf_url":"https://arxiv.org/pdf/1909.13025","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":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2975778881.pdf","grobid_xml":"https://content.openalex.org/works/W2975778881.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1632686212","https://openalex.org/W1976566382","https://openalex.org/W2006477110","https://openalex.org/W2015898408","https://openalex.org/W2018295629","https://openalex.org/W2021455339","https://openalex.org/W2051206802","https://openalex.org/W2081697593","https://openalex.org/W2100698413","https://openalex.org/W2117877982","https://openalex.org/W2120847449","https://openalex.org/W2125808935","https://openalex.org/W2134093624","https://openalex.org/W2152859600","https://openalex.org/W2160874265","https://openalex.org/W2163605009","https://openalex.org/W2168379671","https://openalex.org/W2169364846","https://openalex.org/W2187089797","https://openalex.org/W2337977475","https://openalex.org/W2552248783","https://openalex.org/W2588935875","https://openalex.org/W2607172324","https://openalex.org/W2607241646","https://openalex.org/W2627011674","https://openalex.org/W2899771611","https://openalex.org/W2964121744","https://openalex.org/W2967155559","https://openalex.org/W2968095426","https://openalex.org/W3100674903","https://openalex.org/W3105287169","https://openalex.org/W4253075444","https://openalex.org/W6631190155","https://openalex.org/W6654383890","https://openalex.org/W6683960005","https://openalex.org/W6684191040","https://openalex.org/W6756040250"],"related_works":["https://openalex.org/W3091060969","https://openalex.org/W1566344015","https://openalex.org/W2684832031","https://openalex.org/W2057527608","https://openalex.org/W2074200735","https://openalex.org/W147239736","https://openalex.org/W2107289496","https://openalex.org/W102486309","https://openalex.org/W2055734820","https://openalex.org/W2161841550","https://openalex.org/W2146611447","https://openalex.org/W3195908361","https://openalex.org/W2183432395","https://openalex.org/W2590313410","https://openalex.org/W1630416173","https://openalex.org/W2230470088","https://openalex.org/W3025101104","https://openalex.org/W2155401574","https://openalex.org/W2545002489","https://openalex.org/W2959543275"],"abstract_inverted_index":{"Rich":[0],"haptic":[1,49,114],"sensory":[2],"feedback":[3,22,50,116],"in":[4,30,51,168],"response":[5],"to":[6,39,48,112,117,158],"user":[7,28,46,69],"interactions":[8,29,47],"is":[9,37],"desirable":[10],"for":[11,76],"an":[12,105],"effective,":[13],"immersive":[14],"virtual":[15],"reality":[16],"or":[17],"teleoperation":[18],"system.":[19],"However,":[20],"this":[21,80],"depends":[23],"on":[24,68,125],"material":[25,44,166],"properties":[26],"and":[27,45,97,156,161],"a":[31,52,73,84,92,118,126,147],"complex,":[32],"non-linear":[33],"manner.":[34],"Therefore,":[35],"it":[36],"challenging":[38],"model":[40,75,87,103,124,149],"the":[41,60,141,165,169],"mapping":[42],"from":[43,91],"way":[53],"that":[54,88,108,134,146],"generalizes":[55,157],"over":[56,150],"many":[57],"variations":[58],"of":[59,140,164],"user's":[61,98],"input.":[62,101],"Current":[63],"methodologies":[64],"are":[65],"typically":[66],"conditioned":[67],"interactions,":[70],"but":[71],"require":[72],"separate":[74],"each":[77],"material.":[78],"In":[79],"paper,":[81],"we":[82,135],"present":[83],"learned":[85],"action-conditional":[86],"uses":[89],"data":[90],"vision-based":[93],"tactile":[94],"sensor":[95],"(GelSight)":[96],"action":[99],"as":[100],"This":[102],"predicts":[104],"induced":[106],"acceleration":[107],"could":[109],"be":[110],"used":[111],"provide":[113],"vibration":[115],"user.":[119],"We":[120,144],"trained":[121],"our":[122],"proposed":[123],"publicly":[127],"available":[128],"dataset":[129],"(Penn":[130],"Haptic":[131],"Texture":[132],"Toolkit)":[133],"augmented":[136],"with":[137],"GelSight":[138],"measurements":[139],"different":[142],"materials.":[143],"show":[145],"unified":[148],"all":[151],"materials":[152],"outperforms":[153],"previous":[154],"methods":[155],"new":[159,162],"actions":[160],"instances":[163],"categories":[167],"dataset.":[170]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}
