{"id":"https://openalex.org/W3112864110","doi":"https://doi.org/10.1109/icra48506.2021.9561228","title":"Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps","display_name":"Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3112864110","doi":"https://doi.org/10.1109/icra48506.2021.9561228","mag":"3112864110"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561228","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/2012.09696","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064860545","display_name":"Jens Lundell","orcid":"https://orcid.org/0000-0003-2296-6685"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]},{"id":"https://openalex.org/I4210134318","display_name":"University of Technology","ror":"https://ror.org/03gbw6p94","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210134318"]}],"countries":["FI","RU"],"is_corresponding":true,"raw_author_name":"Jens Lundell","raw_affiliation_strings":["School of Electrical Engineering, Aalto University","(Helsinki University of Technology)"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Aalto University","institution_ids":["https://openalex.org/I9927081"]},{"raw_affiliation_string":"(Helsinki University of Technology)","institution_ids":["https://openalex.org/I4210134318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086870826","display_name":"Enric Corona","orcid":"https://orcid.org/0000-0002-4835-1868"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Enric Corona","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Barcelona, Spain","CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]},{"raw_affiliation_string":"CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012192290","display_name":"Tran Nguyen Le","orcid":"https://orcid.org/0000-0003-1139-1943"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Tran Nguyen Le","raw_affiliation_strings":["School of Electrical Engineering, Aalto University","Aalto University, School of Electrical Engineering"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Aalto University","institution_ids":["https://openalex.org/I9927081"]},{"raw_affiliation_string":"Aalto University, School of Electrical Engineering","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076436681","display_name":"Francesco Verdoja","orcid":"https://orcid.org/0000-0002-9551-6186"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Francesco Verdoja","raw_affiliation_strings":["School of Electrical Engineering, Aalto University","Aalto University, School of Electrical Engineering"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Aalto University","institution_ids":["https://openalex.org/I9927081"]},{"raw_affiliation_string":"Aalto University, School of Electrical Engineering","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054497181","display_name":"Philippe Weinzaepfel","orcid":"https://orcid.org/0000-0002-4223-3983"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Philippe Weinzaepfel","raw_affiliation_strings":["NAVER LABS Europe, Meylan, France","NAVER LABS Europe,Meylan,France"],"affiliations":[{"raw_affiliation_string":"NAVER LABS Europe, Meylan, France","institution_ids":[]},{"raw_affiliation_string":"NAVER LABS Europe,Meylan,France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085685227","display_name":"Gr\u00e9gory Rogez","orcid":"https://orcid.org/0000-0002-2275-2129"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gregory Rogez","raw_affiliation_strings":["NAVER LABS Europe, Meylan, France","NAVER LABS Europe,Meylan,France"],"affiliations":[{"raw_affiliation_string":"NAVER LABS Europe, Meylan, France","institution_ids":[]},{"raw_affiliation_string":"NAVER LABS Europe,Meylan,France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106691454","display_name":"Francesc Moreno-Noguer","orcid":"https://orcid.org/0000-0002-8640-684X"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francesc Moreno-Noguer","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Barcelona, Spain","CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]},{"raw_affiliation_string":"CSIC-UPC, Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848","https://openalex.org/I4210093282"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080940147","display_name":"Ville Kyrki","orcid":"https://orcid.org/0000-0002-5230-5549"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Ville Kyrki","raw_affiliation_strings":["School of Electrical Engineering, Aalto University","Aalto University, School of Electrical Engineering"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Aalto University","institution_ids":["https://openalex.org/I9927081"]},{"raw_affiliation_string":"Aalto University, School of Electrical Engineering","institution_ids":["https://openalex.org/I9927081"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5064860545"],"corresponding_institution_ids":["https://openalex.org/I4210134318","https://openalex.org/I9927081"],"apc_list":null,"apc_paid":null,"fwci":0.4159,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.5858346,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"4495","last_page":"4501"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9926000237464905,"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":0.9714999794960022,"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":0.9555201530456543},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7345418930053711},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6458485722541809},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.58780837059021},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.521754801273346},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5085026025772095},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4494950473308563},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1324058473110199}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9555201530456543},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7345418930053711},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6458485722541809},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.58780837059021},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.521754801273346},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5085026025772095},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4494950473308563},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1324058473110199},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/icra48506.2021.9561228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561228","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:2012.09696","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2012.09696","pdf_url":"https://arxiv.org/pdf/2012.09696","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:3112864110","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2012.09696","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":"pmh:oai:digital.csic.es:10261/265771","is_oa":false,"landing_page_url":"http://hdl.handle.net/10261/265771","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"comunicaci\u00f3n de congreso"},{"id":"pmh:oai:upcommons.upc.edu:2117/361996","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/361996","pdf_url":null,"source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"},{"id":"doi:10.48550/arxiv.2012.09696","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2012.09696","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:2012.09696","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2012.09696","pdf_url":"https://arxiv.org/pdf/2012.09696","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":0.6399999856948853}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321108","display_name":"Academy of Finland","ror":"https://ror.org/05k73zm37"},{"id":"https://openalex.org/F4320338463","display_name":"CHIST-ERA","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1794703952","https://openalex.org/W1994349244","https://openalex.org/W2126496149","https://openalex.org/W2138983671","https://openalex.org/W2156583822","https://openalex.org/W2167788274","https://openalex.org/W2194775991","https://openalex.org/W2205950488","https://openalex.org/W2282481780","https://openalex.org/W2524140598","https://openalex.org/W2600030077","https://openalex.org/W2739748921","https://openalex.org/W2783693550","https://openalex.org/W2798255267","https://openalex.org/W2914944935","https://openalex.org/W2920104424","https://openalex.org/W2953249127","https://openalex.org/W2962787403","https://openalex.org/W2963033241","https://openalex.org/W2964198579","https://openalex.org/W2967848559","https://openalex.org/W2968722025","https://openalex.org/W2975039016","https://openalex.org/W2986303149","https://openalex.org/W3001205981","https://openalex.org/W3003296541","https://openalex.org/W3004167188","https://openalex.org/W3008273191","https://openalex.org/W3014041360","https://openalex.org/W3022674252","https://openalex.org/W3034681090","https://openalex.org/W3035540890","https://openalex.org/W3088158297","https://openalex.org/W3090814639","https://openalex.org/W3130002758","https://openalex.org/W6630201400","https://openalex.org/W6735913928","https://openalex.org/W6739378191","https://openalex.org/W6766800703","https://openalex.org/W6767705975"],"related_works":["https://openalex.org/W3207287914","https://openalex.org/W2952443725","https://openalex.org/W2945413402","https://openalex.org/W2786195513","https://openalex.org/W3159512259","https://openalex.org/W3100922749","https://openalex.org/W2960597203","https://openalex.org/W2256378168","https://openalex.org/W3020298515","https://openalex.org/W1982675814","https://openalex.org/W2246375432","https://openalex.org/W2188543046","https://openalex.org/W3087505536","https://openalex.org/W2037882812","https://openalex.org/W2798255267","https://openalex.org/W3004167188","https://openalex.org/W2481975345","https://openalex.org/W2768908396","https://openalex.org/W3211681094","https://openalex.org/W2085949256"],"abstract_inverted_index":{"While":[0],"there":[1],"exists":[2],"many":[3],"methods":[4],"for":[5],"manipulating":[6],"rigid":[7],"objects":[8],"with":[9,13],"parallel-jaw":[10],"grippers,":[11],"grasping":[12],"multi-finger":[14,59],"robotic":[15],"hands":[16],"remains":[17],"a":[18,56,74,85,90,99,103,122,135,172],"quite":[19],"unexplored":[20],"research":[21],"topic.":[22],"Reasoning":[23],"and":[24,47,102,111,117,131,156,183],"planning":[25],"collision-free":[26],"trajectories":[27],"on":[28,126,134],"the":[29,170,177],"additional":[30],"degrees":[31],"of":[32,34,89,152],"freedom":[33],"several":[35],"fingers":[36],"represents":[37],"an":[38,82],"important":[39],"challenge":[40],"that,":[41],"so":[42],"far,":[43],"involves":[44],"computationally":[45],"costly":[46],"slow":[48],"processes.":[49],"In":[50],"this":[51,78],"work,":[52],"we":[53],"present":[54],"Multi-FinGAN,":[55],"fast":[57],"generative":[58],"grasp":[60,95,109,153,157,181],"sampling":[61],"method":[62,120,125,145],"that":[63,93,106,175],"synthesizes":[64],"high":[65],"quality":[66,154],"grasps":[67,128,133],"directly":[68],"from":[69],"RGB-D":[70],"images":[71],"in":[72,81,129,150],"about":[73],"second.":[75],"We":[76,114],"achieve":[77],"by":[79],"training":[80],"end-to-end":[83],"fashion":[84],"coarse-to-fine":[86],"model":[87],"composed":[88],"classification":[91],"network":[92,105],"distinguishes":[94],"types":[96],"according":[97],"to":[98,165,179],"specific":[100],"taxonomy":[101],"refinement":[104],"produces":[107],"refined":[108],"poses":[110],"joint":[112],"angles.":[113],"experimentally":[115],"validate":[116],"benchmark":[118],"our":[119,144,161],"against":[121],"standard":[123],"grasp-sampling":[124],"790":[127],"simulation":[130],"20":[132],"real":[136],"Franka":[137],"Emika":[138],"Panda.":[139],"All":[140],"experimental":[141],"results":[142],"using":[143],"show":[146],"consistent":[147],"improvements":[148],"both":[149],"terms":[151],"metrics":[155],"success":[158],"rate.":[159],"Remarkably,":[160],"approach":[162],"is":[163,188],"up":[164],"20-30":[166],"times":[167],"faster":[168],"than":[169],"baseline,":[171],"significant":[173],"improvement":[174],"opens":[176],"door":[178],"feedback-based":[180],"re-planning":[182],"task":[184],"informative":[185],"grasping.":[186],"Code":[187],"available":[189],"at":[190],"https://irobotics.aalto.fi/multi-fingan/.":[191]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}