{"id":"https://openalex.org/W3205684050","doi":"https://doi.org/10.1109/icra48506.2021.9561473","title":"Collision-Aware Target-Driven Object Grasping in Constrained Environments","display_name":"Collision-Aware Target-Driven Object Grasping in Constrained Environments","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205684050","doi":"https://doi.org/10.1109/icra48506.2021.9561473","mag":"3205684050"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561473","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561473","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":"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/A5022469639","display_name":"Xibai Lou","orcid":"https://orcid.org/0009-0006-4242-847X"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xibai Lou","raw_affiliation_strings":["Univ. of Minnesota,Department of Electrical and Computer Engineering,Minneapolis,USA","Department of Electrical and Computer Engineering, Univ. of Minnesota, Minneapolis, USA"],"affiliations":[{"raw_affiliation_string":"Univ. of Minnesota,Department of Electrical and Computer Engineering,Minneapolis,USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Univ. of Minnesota, Minneapolis, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100397463","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0001-9061-3828"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["Univ. of Minnesota,Department of Computer Science and Engineering,Minneapolis,USA","Department of Computer Science and Engineering, Univ. of Minnesota, Minneapolis, USA"],"affiliations":[{"raw_affiliation_string":"Univ. of Minnesota,Department of Computer Science and Engineering,Minneapolis,USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Univ. of Minnesota, Minneapolis, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057994317","display_name":"Changhyun Choi","orcid":"https://orcid.org/0000-0003-4715-3576"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changhyun Choi","raw_affiliation_strings":["Univ. of Minnesota,Department of Electrical and Computer Engineering,Minneapolis,USA","Department of Electrical and Computer Engineering, Univ. of Minnesota, Minneapolis, USA"],"affiliations":[{"raw_affiliation_string":"Univ. of Minnesota,Department of Electrical and Computer Engineering,Minneapolis,USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Univ. of Minnesota, Minneapolis, USA","institution_ids":["https://openalex.org/I130238516"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5022469639"],"corresponding_institution_ids":["https://openalex.org/I130238516"],"apc_list":null,"apc_paid":null,"fwci":3.7287,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.93570968,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6364","last_page":"6370"},"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":0.9718999862670898,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9711999893188477,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/reachability","display_name":"Reachability","score":0.8927177786827087},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8276321887969971},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7675197124481201},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6619576215744019},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5913833379745483},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5556697845458984},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5025484561920166},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45325690507888794},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44599393010139465},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.43771764636039734},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.12607714533805847},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10772669315338135}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.8927177786827087},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8276321887969971},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7675197124481201},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6619576215744019},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5913833379745483},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5556697845458984},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5025484561920166},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45325690507888794},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44599393010139465},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.43771764636039734},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.12607714533805847},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10772669315338135},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/icra48506.2021.9561473","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561473","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6299999952316284,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1503925285","https://openalex.org/W1510186039","https://openalex.org/W1959608418","https://openalex.org/W1999156278","https://openalex.org/W2005824379","https://openalex.org/W2019681680","https://openalex.org/W2036637075","https://openalex.org/W2082511574","https://openalex.org/W2088043683","https://openalex.org/W2138621090","https://openalex.org/W2141664020","https://openalex.org/W2176690447","https://openalex.org/W2201912979","https://openalex.org/W2211722331","https://openalex.org/W2557465155","https://openalex.org/W2560609797","https://openalex.org/W2600030077","https://openalex.org/W2789805345","https://openalex.org/W2810588678","https://openalex.org/W2906580601","https://openalex.org/W2918333121","https://openalex.org/W2962736495","https://openalex.org/W2962737955","https://openalex.org/W2962793652","https://openalex.org/W2962837436","https://openalex.org/W2962899390","https://openalex.org/W2963448173","https://openalex.org/W2963654160","https://openalex.org/W2966885779","https://openalex.org/W2968116426","https://openalex.org/W2970710335","https://openalex.org/W2979421998","https://openalex.org/W2986303149","https://openalex.org/W3004047800","https://openalex.org/W3037767967","https://openalex.org/W3090814639","https://openalex.org/W3090822776","https://openalex.org/W3091905774","https://openalex.org/W3098945452","https://openalex.org/W3104753760","https://openalex.org/W3112422759","https://openalex.org/W6640963894","https://openalex.org/W6763422710","https://openalex.org/W6768303767","https://openalex.org/W6783596713"],"related_works":["https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2163296013","https://openalex.org/W2143461633","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"Grasping":[0],"a":[1,53],"novel":[2,54,115],"target":[3],"object":[4],"in":[5,78,85,93,97,117],"constrained":[6],"environments":[7],"(e.g.,":[8],"walls,":[9],"bins,":[10],"and":[11,40,47,74,100],"shelves)":[12],"requires":[13],"intensive":[14,41],"reasoning":[15],"about":[16,37],"grasp":[17,72],"pose":[18],"reachability":[19],"to":[20,66],"avoid":[21],"collisions":[22],"with":[23],"the":[24,34,38,68,101,125,128,132],"surrounding":[25,119],"structures.":[26,120],"Typical":[27],"6-DoF":[28,60,133],"robotic":[29],"grasping":[30,61,77,112,134],"systems":[31],"rely":[32],"on":[33,114],"prior":[35],"knowledge":[36],"environment":[39],"planning":[42],"computation,":[43],"which":[44,130],"is":[45],"ungeneralizable":[46],"inefficient.":[48],"In":[49],"contrast,":[50],"we":[51],"propose":[52],"Collision-Aware":[55],"Reachability":[56],"Predictor":[57],"(CARP)":[58],"for":[59,71],"systems.":[62],"The":[63,81,95,121],"CARP":[64],"learns":[65],"estimate":[67],"collision-free":[69],"probabilities":[70],"poses":[73],"significantly":[75],"improves":[76,131],"challenging":[79],"environments.":[80],"deep":[82],"neural":[83],"networks":[84],"our":[86,106],"approach":[87,107],"are":[88],"trained":[89],"fully":[90],"by":[91,136],"self-supervision":[92],"simulation.":[94],"experiments":[96],"both":[98],"simulation":[99],"real":[102],"world":[103],"show":[104],"that":[105],"achieves":[108],"more":[109],"than":[110],"75%":[111],"rate":[113,135],"objects":[116],"various":[118],"ablation":[122],"study":[123],"demonstrates":[124],"effectiveness":[126],"of":[127],"CARP,":[129],"95.7%.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-06T13:50:29.536080","created_date":"2025-10-10T00:00:00"}