{"id":"https://openalex.org/W3163964572","doi":"https://doi.org/10.1109/icra48506.2021.9561084","title":"PyTouch: A Machine Learning Library for Touch Processing","display_name":"PyTouch: A Machine Learning Library for Touch Processing","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3163964572","doi":"https://doi.org/10.1109/icra48506.2021.9561084","mag":"3163964572"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561084","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":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2105.12791","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057072246","display_name":"Mike Lambeta","orcid":null},"institutions":[{"id":"https://openalex.org/I4210099336","display_name":"Menlo School","ror":"https://ror.org/01240pn49","country_code":"US","type":"education","lineage":["https://openalex.org/I4210099336"]},{"id":"https://openalex.org/I4210114444","display_name":"Meta (United States)","ror":"https://ror.org/01zbnvs85","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mike Lambeta","raw_affiliation_strings":["Facebook AI Research, Menlo Park, USA","[Facebook AI Research, Menlo Park, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Facebook AI Research, Menlo Park, USA","institution_ids":["https://openalex.org/I4210099336","https://openalex.org/I4210114444"]},{"raw_affiliation_string":"[Facebook AI Research, Menlo Park, USA]","institution_ids":["https://openalex.org/I4210099336","https://openalex.org/I4210114444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049093671","display_name":"Huazhe Xu","orcid":"https://orcid.org/0000-0001-8578-1261"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huazhe Xu","raw_affiliation_strings":["University of California, Berkeley, USA","University of California\u2014Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California\u2014Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061294954","display_name":"Jingwei Xu","orcid":"https://orcid.org/0000-0001-8122-7028"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingwei Xu","raw_affiliation_strings":["Shanghai Jiao Tong University, China","Shanghai Jiao Tong University,  China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Shanghai Jiao Tong University,  China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112053121","display_name":"Po-Wei Chou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210099336","display_name":"Menlo School","ror":"https://ror.org/01240pn49","country_code":"US","type":"education","lineage":["https://openalex.org/I4210099336"]},{"id":"https://openalex.org/I4210114444","display_name":"Meta (United States)","ror":"https://ror.org/01zbnvs85","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Po-Wei Chou","raw_affiliation_strings":["Facebook AI Research, Menlo Park, USA","[Facebook AI Research, Menlo Park, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Facebook AI Research, Menlo Park, USA","institution_ids":["https://openalex.org/I4210099336","https://openalex.org/I4210114444"]},{"raw_affiliation_string":"[Facebook AI Research, Menlo Park, USA]","institution_ids":["https://openalex.org/I4210099336","https://openalex.org/I4210114444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072288129","display_name":"Shaoxiong Wang","orcid":"https://orcid.org/0000-0001-6005-3604"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shaoxiong Wang","raw_affiliation_strings":["Massachusetts Institute of Technology, USA","Massachusetts Institute of Technology , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology , USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029105520","display_name":"Trevor Darrell","orcid":"https://orcid.org/0000-0001-5453-8533"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Trevor Darrell","raw_affiliation_strings":["University of California, Berkeley, USA","University of California\u2014Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California\u2014Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002235575","display_name":"Roberto Calandra","orcid":"https://orcid.org/0000-0001-9430-8433"},"institutions":[{"id":"https://openalex.org/I4210099336","display_name":"Menlo School","ror":"https://ror.org/01240pn49","country_code":"US","type":"education","lineage":["https://openalex.org/I4210099336"]},{"id":"https://openalex.org/I4210114444","display_name":"Meta (United States)","ror":"https://ror.org/01zbnvs85","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Calandra","raw_affiliation_strings":["Facebook AI Research, Menlo Park, USA","[Facebook AI Research, Menlo Park, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Facebook AI Research, Menlo Park, USA","institution_ids":["https://openalex.org/I4210099336","https://openalex.org/I4210114444"]},{"raw_affiliation_string":"[Facebook AI Research, Menlo Park, USA]","institution_ids":["https://openalex.org/I4210099336","https://openalex.org/I4210114444"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3117,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.43606186,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"13208","last_page":"13214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9993000030517578,"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":0.9993000030517578,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9944999814033508,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9916999936103821,"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/computer-science","display_name":"Computer science","score":0.7182213068008423},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6812363862991333},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6227149963378906},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5249198079109192},{"id":"https://openalex.org/keywords/multi-touch","display_name":"Multi-touch","score":0.49259620904922485},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4355931878089905},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4096672534942627},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.35591983795166016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33653610944747925},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.33015120029449463},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.13807430863380432},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.13392800092697144},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09321963787078857}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7182213068008423},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6812363862991333},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6227149963378906},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5249198079109192},{"id":"https://openalex.org/C2780753109","wikidata":"https://www.wikidata.org/wiki/Q390557","display_name":"Multi-touch","level":2,"score":0.49259620904922485},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4355931878089905},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4096672534942627},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.35591983795166016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33653610944747925},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.33015120029449463},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.13807430863380432},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.13392800092697144},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09321963787078857}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561084","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:2105.12791","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.12791","pdf_url":"https://arxiv.org/pdf/2105.12791","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"","raw_type":"text"},{"id":"mag:3163964572","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2105.12791","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.2105.12791","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2105.12791","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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:2105.12791","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.12791","pdf_url":"https://arxiv.org/pdf/2105.12791","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3163964572.pdf","grobid_xml":"https://content.openalex.org/works/W3163964572.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W347808922","https://openalex.org/W2049852105","https://openalex.org/W2155893237","https://openalex.org/W2202445498","https://openalex.org/W2588935875","https://openalex.org/W2775635818","https://openalex.org/W2804941773","https://openalex.org/W2949650786","https://openalex.org/W2950094539","https://openalex.org/W2963654998","https://openalex.org/W2963915174","https://openalex.org/W2970971581","https://openalex.org/W2974524229","https://openalex.org/W2979098108","https://openalex.org/W3008303301","https://openalex.org/W3011275252","https://openalex.org/W3012262179","https://openalex.org/W3089374988","https://openalex.org/W3100818121","https://openalex.org/W3210232381","https://openalex.org/W6611794006","https://openalex.org/W6687483927","https://openalex.org/W6766978945","https://openalex.org/W6803376173"],"related_works":["https://openalex.org/W3206335701","https://openalex.org/W1602710212","https://openalex.org/W3125277470","https://openalex.org/W2207731749","https://openalex.org/W3201635154","https://openalex.org/W2263675759","https://openalex.org/W1981298293","https://openalex.org/W3112007174","https://openalex.org/W3089284501","https://openalex.org/W3010878084","https://openalex.org/W2762715005","https://openalex.org/W3104799779","https://openalex.org/W2081062721","https://openalex.org/W3173045987","https://openalex.org/W3201071115","https://openalex.org/W2079259462","https://openalex.org/W1537921885","https://openalex.org/W3005749419","https://openalex.org/W2616203087","https://openalex.org/W1960560656"],"abstract_inverted_index":{"With":[0],"the":[1,47,54,77,81],"increased":[2],"availability":[3],"of":[4,21,56,79],"rich":[5],"tactile":[6,82,113],"sensors,":[7],"there":[8],"is":[9,61,129],"an":[10,11],"equally":[12],"proportional":[13],"need":[14],"for":[15,36,89],"open-source":[16],"and":[17,23,38,67,93,99,124],"integrated":[18],"software":[19],"capable":[20],"efficiently":[22],"effectively":[24],"processing":[25,55,71,117],"raw":[26],"touch":[27,57,70,116,121],"measurements":[28],"into":[29],"high-level":[30],"signals":[31],"that":[32],"can":[33,101],"be":[34,64,102],"used":[35],"control":[37],"decision-making.":[39],"In":[40],"this":[41],"paper,":[42],"we":[43],"present":[44],"PyTouch":[45,107,128],"\u2013":[46],"first":[48],"machine":[49],"learning":[50],"library":[51,88],"dedicated":[52],"to":[53,63],"sensing":[58,83],"signals.":[59],"PyTouch,":[60],"designed":[62],"modular,":[65],"easy-to-use":[66],"provides":[68],"state-of-the-art":[69],"capabilities":[72],"as":[73,120],"a":[74,87],"service":[75],"with":[76],"goal":[78],"unifying":[80],"community":[84],"by":[85],"providing":[86],"building":[90],"scalable,":[91],"proven,":[92],"performance-validated":[94],"modules":[95],"over":[96],"which":[97],"applications":[98],"research":[100],"built":[103],"upon.":[104],"We":[105],"evaluate":[106],"on":[108,115],"real-world":[109],"data":[110],"from":[111],"several":[112],"sensors":[114],"tasks":[118],"such":[119],"detection,":[122],"slip":[123],"object":[125],"pose":[126],"estimations.":[127],"open-sourced":[130],"at":[131],"https://github.com/facebookresearch/pytouch.":[132]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
