{"id":"https://openalex.org/W4285102504","doi":"https://doi.org/10.1109/icra46639.2022.9811721","title":"Robot Grasping through a Joint-Initiative Supervised Autonomy Framework","display_name":"Robot Grasping through a Joint-Initiative Supervised Autonomy Framework","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102504","doi":"https://doi.org/10.1109/icra46639.2022.9811721"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811721","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5021630529","display_name":"Abbas Sidaoui","orcid":null},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":true,"raw_author_name":"Abbas Sidaoui","raw_affiliation_strings":["American University of Beirut,Vision and Robotics Lab,Beirut,Lebanon","Vision and Robotics Lab, American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"American University of Beirut,Vision and Robotics Lab,Beirut,Lebanon","institution_ids":["https://openalex.org/I98635879"]},{"raw_affiliation_string":"Vision and Robotics Lab, American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010140692","display_name":"Naseem Daher","orcid":"https://orcid.org/0000-0002-3292-0261"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Naseem Daher","raw_affiliation_strings":["American University of Beirut,Vision and Robotics Lab,Beirut,Lebanon","Vision and Robotics Lab, American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"American University of Beirut,Vision and Robotics Lab,Beirut,Lebanon","institution_ids":["https://openalex.org/I98635879"]},{"raw_affiliation_string":"Vision and Robotics Lab, American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086667285","display_name":"Daniel Asmar","orcid":"https://orcid.org/0000-0002-4932-9777"},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Daniel Asmar","raw_affiliation_strings":["American University of Beirut,Vision and Robotics Lab,Beirut,Lebanon","Vision and Robotics Lab, American University of Beirut, Beirut, Lebanon"],"affiliations":[{"raw_affiliation_string":"American University of Beirut,Vision and Robotics Lab,Beirut,Lebanon","institution_ids":["https://openalex.org/I98635879"]},{"raw_affiliation_string":"Vision and Robotics Lab, American University of Beirut, Beirut, Lebanon","institution_ids":["https://openalex.org/I98635879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021630529"],"corresponding_institution_ids":["https://openalex.org/I98635879"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05995956,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"7868","last_page":"7874"},"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9968000054359436,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9799000024795532,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.8061150908470154},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8034142851829529},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6797047853469849},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.5980398654937744},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5695842504501343},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4989912509918213},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4895339906215668},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.48250770568847656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47394704818725586},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.44586268067359924},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.41496992111206055},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1978606879711151},{"id":"https://openalex.org/keywords/operations-management","display_name":"Operations management","score":0.09553036093711853}],"concepts":[{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.8061150908470154},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8034142851829529},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6797047853469849},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.5980398654937744},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5695842504501343},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4989912509918213},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4895339906215668},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.48250770568847656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47394704818725586},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.44586268067359924},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.41496992111206055},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1978606879711151},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.09553036093711853},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811721","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811721","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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":45,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1559022906","https://openalex.org/W1586213461","https://openalex.org/W1857847001","https://openalex.org/W1977253332","https://openalex.org/W2068127265","https://openalex.org/W2109135966","https://openalex.org/W2128378943","https://openalex.org/W2133672972","https://openalex.org/W2166548528","https://openalex.org/W2255556671","https://openalex.org/W2488046026","https://openalex.org/W2573779815","https://openalex.org/W2593459258","https://openalex.org/W2605297402","https://openalex.org/W2613162064","https://openalex.org/W2773972075","https://openalex.org/W2792089292","https://openalex.org/W2795709635","https://openalex.org/W2901136733","https://openalex.org/W2910668273","https://openalex.org/W2962746398","https://openalex.org/W2966960409","https://openalex.org/W2999821079","https://openalex.org/W3039179219","https://openalex.org/W3090417004","https://openalex.org/W3090814639","https://openalex.org/W3091686107","https://openalex.org/W3095065393","https://openalex.org/W3112629439","https://openalex.org/W3129140312","https://openalex.org/W3164210676","https://openalex.org/W3199575295","https://openalex.org/W4234486210","https://openalex.org/W4254643143","https://openalex.org/W4287553698","https://openalex.org/W4288319858","https://openalex.org/W6631190155","https://openalex.org/W6756486208","https://openalex.org/W6764655487","https://openalex.org/W6780440201","https://openalex.org/W6784720064","https://openalex.org/W6786884049","https://openalex.org/W6796262061","https://openalex.org/W6801166681"],"related_works":["https://openalex.org/W4387731985","https://openalex.org/W2755149878","https://openalex.org/W2941808082","https://openalex.org/W2468425257","https://openalex.org/W4377009725","https://openalex.org/W4379086698","https://openalex.org/W2528721242","https://openalex.org/W4320164562","https://openalex.org/W2356364326","https://openalex.org/W2372069567"],"abstract_inverted_index":{"Robot":[0],"grasping":[1,130],"applications":[2],"are":[3,21,29],"faced":[4],"with":[5],"challenges":[6,48],"and":[7,16,35,42,49,76],"limitations":[8],"leading":[9],"to":[10,32,38,72,165],"errors":[11,20,109],"that":[12,121],"affect":[13],"their":[14,39],"performance":[15,146],"accuracy.":[17],"Although":[18],"these":[19,47],"reduced":[22],"in":[23,106,126,132],"expensive":[24],"industrial":[25],"systems,":[26],"low-cost":[27,133],"robots":[28,134],"still":[30],"prone":[31],"inaccurate":[33],"perception":[34,75],"execution":[36,108],"due":[37],"limited":[40],"hardware":[41],"software":[43],"capabilities.":[44],"To":[45],"mitigate":[46],"limitations,":[50],"this":[51],"work":[52],"develops":[53],"a":[54,67,123,144],"Joint-Initiative":[55],"Supervised":[56],"Autonomy":[57],"(JISA)":[58],"framework":[59],"for":[60,129],"robot":[61,89,105],"grasping.":[62],"In":[63,138],"the":[64,73,80,88,98,104,127,150,155],"proposed":[65,141],"system,":[66],"human":[68,99,124],"supervisor":[69,100,125],"provides":[70],"assistance":[71,81],"robot's":[74],"planning":[77],"modules,":[78],"where":[79],"is":[82],"triggered":[83],"by":[84,87,148],"requests":[85],"made":[86],"based":[90,110],"on":[91,111],"its":[92],"self":[93],"confidence":[94],"(SC)":[95],"metric.":[96],"Moreover,":[97],"can":[101],"also":[102],"assist":[103],"eliminating":[107],"his/her":[112],"situation":[113],"awareness":[114],"(SA).":[115],"Through":[116],"experimental":[117],"validation,":[118],"we":[119,159],"show":[120],"including":[122],"loop":[128],"tasks":[131],"outperforms":[135],"full":[136],"autonomy.":[137],"fact,":[139],"our":[140],"system":[142],"showed":[143],"marked":[145],"improvement":[147],"increasing":[149],"end-to-end":[151],"success":[152],"rate":[153],"of":[154],"baseline":[156],"approach,":[157],"which":[158],"implemented":[160],"JISA":[161],"on,":[162],"from":[163],"35.0%":[164],"87.6%.":[166]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}