{"id":"https://openalex.org/W3138077574","doi":"https://doi.org/10.1109/icra48506.2021.9560901","title":"Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives","display_name":"Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3138077574","doi":"https://doi.org/10.1109/icra48506.2021.9560901","mag":"3138077574"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560901","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560901","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/2103.12810","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017931343","display_name":"Lars Berscheid","orcid":"https://orcid.org/0000-0003-1129-8407"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Lars Berscheid","raw_affiliation_strings":["Karlsruhe Institute of Technology (KIT), Germany","Karlsruhe Institute of Technology (KIT),#N#                     Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT),#N#                     Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103189764","display_name":"Christian Friedrich","orcid":"https://orcid.org/0000-0002-1882-5524"},"institutions":[{"id":"https://openalex.org/I4210116426","display_name":"Schunk (Germany)","ror":"https://ror.org/021f1r958","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210116426"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Friedrich","raw_affiliation_strings":["SCHUNK GmbH & Co. KG, Lauffen am Neckar, Germany","SCHUNK GmbH & Co. KG,Lauffen am Neckar,Germany"],"affiliations":[{"raw_affiliation_string":"SCHUNK GmbH & Co. KG, Lauffen am Neckar, Germany","institution_ids":["https://openalex.org/I4210116426"]},{"raw_affiliation_string":"SCHUNK GmbH & Co. KG,Lauffen am Neckar,Germany","institution_ids":["https://openalex.org/I4210116426"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018921223","display_name":"Torsten Kr\u00f6ger","orcid":null},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Torsten Kroger","raw_affiliation_strings":["Karlsruhe Institute of Technology (KIT), Germany","Karlsruhe Institute of Technology (KIT),#N#                     Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT), Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Karlsruhe Institute of Technology (KIT),#N#                     Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5017931343"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02730197,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4474","last_page":"4480"},"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":0.9822999835014343,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9699000120162964,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9146936535835266},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7378289103507996},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6054851412773132},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5943500995635986},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5831270813941956},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.5274750590324402},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.47338905930519104},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.45437026023864746},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4398794174194336},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4105517864227295},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3245522975921631},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.322538286447525},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21360564231872559},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09933435916900635}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9146936535835266},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7378289103507996},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6054851412773132},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5943500995635986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5831270813941956},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.5274750590324402},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47338905930519104},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.45437026023864746},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4398794174194336},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4105517864227295},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3245522975921631},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.322538286447525},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21360564231872559},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09933435916900635},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9560901","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560901","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2103.12810","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.12810","pdf_url":"https://arxiv.org/pdf/2103.12810","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:3138077574","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2103.12810","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.2103.12810","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.12810","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-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.12810","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.12810","pdf_url":"https://arxiv.org/pdf/2103.12810","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1560270123","https://openalex.org/W1794703952","https://openalex.org/W2036637075","https://openalex.org/W2201912979","https://openalex.org/W2600030077","https://openalex.org/W2890646997","https://openalex.org/W2962737955","https://openalex.org/W2962746398","https://openalex.org/W2962759351","https://openalex.org/W2962793652","https://openalex.org/W2962899390","https://openalex.org/W2964130816","https://openalex.org/W2969018702","https://openalex.org/W2986303149","https://openalex.org/W3004003541","https://openalex.org/W3036642894","https://openalex.org/W3112422759","https://openalex.org/W4243385754","https://openalex.org/W6735544697","https://openalex.org/W6752007561","https://openalex.org/W6753243525","https://openalex.org/W6769823609"],"related_works":["https://openalex.org/W3207713578","https://openalex.org/W2986303149","https://openalex.org/W3091126265","https://openalex.org/W2916933307","https://openalex.org/W2569610420","https://openalex.org/W3089966216","https://openalex.org/W2037882812","https://openalex.org/W3039599385","https://openalex.org/W3004669017","https://openalex.org/W2969158650","https://openalex.org/W3028772857","https://openalex.org/W2798255267","https://openalex.org/W2563910264","https://openalex.org/W2296360731","https://openalex.org/W2762491123","https://openalex.org/W2999343182","https://openalex.org/W3004158514","https://openalex.org/W3016422353","https://openalex.org/W2950688942","https://openalex.org/W2771549791"],"abstract_inverted_index":{"Robot":[0],"learning":[1],"is":[2,17,87,95,115,165],"often":[3],"simplified":[4],"to":[5,9,18,25,56,69,97,117,155,157,167],"planar":[6],"manipulation":[7],"due":[8],"its":[10,153],"data":[11],"consumption.":[12],"Then,":[13],"a":[14,20,66,122,148],"common":[15],"approach":[16,38,94],"use":[19],"fully-convolutional":[21],"neural":[22],"network":[23],"(FCNN)":[24],"estimate":[26],"the":[27,41,50,57,76,81,85,90,102,113,163],"reward":[28],"of":[29,46,49,59,108,125,150],"grasp":[30,77,111,118,145],"primitives.":[31,51],"In":[32,139],"this":[33,37,54],"work,":[34],"we":[35,143],"extend":[36],"by":[39],"parametrizing":[40],"two":[42],"remaining,":[43],"lateral":[44],"degrees":[45],"freedom":[47],"(DoFs)":[48],"We":[52,64,160],"apply":[53],"principle":[55],"task":[58],"6":[60],"DoF":[61],"bin":[62],"picking:":[63],"introduce":[65],"model-based":[67,103],"controller":[68,86],"calculate":[70],"angles":[71],"that":[72,162,172],"avoid":[73,168],"collisions,":[74,169],"maximize":[75],"quality":[78],"while":[79],"keeping":[80],"uncertainty":[82],"small.":[83],"As":[84],"integrated":[88],"into":[89],"training,":[91],"our":[92],"hybrid":[93],"able":[96,116,166],"learn":[98],"about":[99],"and":[100],"exploit":[101],"controller.":[104],"After":[105],"real-world":[106,141],"training":[107],"27":[109],"000":[110],"attempts,":[112],"robot":[114],"known":[119],"objects":[120],"with":[121],"success":[123],"rate":[124],"over":[126],"92":[127],"%":[128],"in":[129,147],"dense":[130],"clutter.":[131],"Grasp":[132],"inference":[133],"takes":[134],"less":[135],"than":[136],"50":[137],"ms.":[138],"further":[140],"experiments,":[142],"evaluate":[144],"rates":[146],"range":[149],"scenarios":[151],"including":[152],"ability":[154],"generalize":[156],"unknown":[158],"objects.":[159],"show":[161],"system":[164],"enabling":[170],"grasps":[171],"would":[173],"not":[174],"be":[175],"possible":[176],"without":[177],"primitive":[178],"adaption.":[179]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}