{"id":"https://openalex.org/W4413926286","doi":"https://doi.org/10.1109/icra55743.2025.11127888","title":"vMF-Contact: Uncertainty-Aware Evidential Learning for Probabilistic Contact-Grasp in Noisy Clutter","display_name":"vMF-Contact: Uncertainty-Aware Evidential Learning for Probabilistic Contact-Grasp in Noisy Clutter","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926286","doi":"https://doi.org/10.1109/icra55743.2025.11127888"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5102534356","display_name":"Yitian Shi","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":true,"raw_author_name":"Yitian Shi","raw_affiliation_strings":["Karlsruhe Institute of Technology,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111397834","display_name":"Edgar Welte","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":"Edgar Welte","raw_affiliation_strings":["Karlsruhe Institute of Technology,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084573007","display_name":"Maximilian Gilles","orcid":"https://orcid.org/0000-0002-0528-5709"},"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":"Maximilian Gilles","raw_affiliation_strings":["Karlsruhe Institute of Technology,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026233620","display_name":"Rania Rayyes","orcid":"https://orcid.org/0000-0001-7733-4509"},"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":"Rania Rayyes","raw_affiliation_strings":["Karlsruhe Institute of Technology,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe Institute of Technology,Karlsruhe,Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102534356"],"corresponding_institution_ids":["https://openalex.org/I102335020"],"apc_list":null,"apc_paid":null,"fwci":2.097,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.87981614,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"11668","last_page":"11674"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9879000186920166,"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"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9879000186920166,"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/T12808","display_name":"Ferroelectric and Negative Capacitance Devices","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.98580002784729,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.7687511444091797},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.7420230507850647},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7119300961494446},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6366611123085022},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5688757300376892},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.40825188159942627},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.11002439260482788}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7687511444091797},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.7420230507850647},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7119300961494446},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6366611123085022},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5688757300376892},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.40825188159942627},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.11002439260482788},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127888","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127888","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1566333899","https://openalex.org/W1985512973","https://openalex.org/W2064417727","https://openalex.org/W2796426482","https://openalex.org/W2887922452","https://openalex.org/W2964059111","https://openalex.org/W3035198432","https://openalex.org/W3091619233","https://openalex.org/W3183048323","https://openalex.org/W3199238138","https://openalex.org/W3203898101","https://openalex.org/W3207187156","https://openalex.org/W4380450805","https://openalex.org/W4381888413","https://openalex.org/W4383109008","https://openalex.org/W4386075508","https://openalex.org/W4388407473","https://openalex.org/W4401414963","https://openalex.org/W4401415356","https://openalex.org/W4401416671","https://openalex.org/W4402354092"],"related_works":["https://openalex.org/W2963326767","https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W4387369504","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W3107602296","https://openalex.org/W4364306694","https://openalex.org/W4312192474"],"abstract_inverted_index":{"Grasp":[0],"learning":[1,64,85],"in":[2,70,172],"noisy":[3],"environments,":[4],"such":[5],"as":[6,96,142,152,154],"occlusions,":[7],"sensor":[8],"noise,":[9],"and":[10,127],"out-of-distribution":[11],"(OOD)":[12],"objects,":[13],"poses":[14],"significant":[15,168],"challenges.":[16],"Recent":[17],"learning-based":[18],"approaches":[19],"focus":[20],"primarily":[21],"on":[22,113],"capturing":[23],"aleatoric":[24],"uncertainty":[25,95,126,150],"from":[26],"inherent":[27],"data":[28],"noise.":[29],"The":[30,181],"epistemic":[31],"uncertainty,":[32],"which":[33],"represents":[34],"the":[35,106,110,114,121,147,155,161,173,179],"OOD":[36],"recognition,":[37],"is":[38,183],"often":[39],"addressed":[40],"by":[41,137,170],"ensembles":[42],"with":[43,90],"multiple":[44],"forward":[45],"paths,":[46],"limiting":[47],"real-time":[48],"application.":[49],"In":[50,160],"this":[51],"paper,":[52],"we":[53,78,104,133],"propose":[54],"an":[55,143],"uncertainty-aware":[56],"approach":[57],"for":[58,84,120],"6-DoF":[59],"grasp":[60,88,129],"detection":[61],"using":[62],"evidential":[63],"to":[65,124,157,178],"comprehensively":[66],"capture":[67],"both":[68],"uncertainties":[69],"real-world":[71,162],"robotic":[72],"grasping.":[73],"As":[74],"a":[75,81,167],"key":[76],"contribution,":[77],"introduce":[79],"vMF-Contact,":[80],"novel":[82],"architecture":[83],"hierarchical":[86],"contact":[87],"representations":[89],"probabilistic":[91],"modeling":[92],"of":[93,109,149],"directional":[94],"von":[97],"Mises-Fisher":[98],"(vMF)":[99],"distribution.":[100],"To":[101],"achieve":[102],"this,":[103],"analyze":[105],"theoretical":[107],"formulation":[108],"second-order":[111],"objective":[112],"posterior":[115],"parametrization,":[116],"providing":[117],"formal":[118],"guarantees":[119],"model's":[122],"ability":[123],"quantify":[125],"improve":[128],"prediction":[130],"performance.":[131],"Moreover,":[132],"enhance":[134],"feature":[135],"expressiveness":[136],"applying":[138],"partial":[139],"point":[140],"reconstructions":[141],"auxiliary":[144],"task,":[145],"improving":[146],"comprehension":[148],"quantification":[151],"well":[153],"generalization":[156],"unseen":[158],"objects.":[159],"experiments,":[163],"our":[164],"method":[165],"demonstrates":[166],"improvement":[169],"39%":[171],"overall":[174],"clearance":[175],"rate":[176],"compared":[177],"baselines.":[180],"code":[182],"available":[184],"under:":[185],"https://github.com/YitianShi/vMF-Contact/tree/main":[186]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}