{"id":"https://openalex.org/W4401413985","doi":"https://doi.org/10.1109/icra57147.2024.10610125","title":"GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion","display_name":"GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusion","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413985","doi":"https://doi.org/10.1109/icra57147.2024.10610125"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610125","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5034850281","display_name":"Jiazhao Zhang","orcid":"https://orcid.org/0000-0001-9459-293X"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiazhao Zhang","raw_affiliation_strings":["Peking University,CFCS, School of Computer Science"],"affiliations":[{"raw_affiliation_string":"Peking University,CFCS, School of Computer Science","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051376251","display_name":"Nandiraju Gireesh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nandiraju Gireesh","raw_affiliation_strings":["Galbot"],"affiliations":[{"raw_affiliation_string":"Galbot","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100660343","display_name":"Jilong Wang","orcid":"https://orcid.org/0000-0002-4082-0463"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jilong Wang","raw_affiliation_strings":["Beijing Academy of Artificial Intelligence"],"affiliations":[{"raw_affiliation_string":"Beijing Academy of Artificial Intelligence","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079695146","display_name":"Xiaomeng Fang","orcid":"https://orcid.org/0000-0003-4077-5639"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaomeng Fang","raw_affiliation_strings":["Beijing Academy of Artificial Intelligence"],"affiliations":[{"raw_affiliation_string":"Beijing Academy of Artificial Intelligence","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090850096","display_name":"Chaoyi Xu","orcid":"https://orcid.org/0000-0002-9870-4297"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chaoyi Xu","raw_affiliation_strings":["Galbot"],"affiliations":[{"raw_affiliation_string":"Galbot","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021342316","display_name":"Wei-Guang Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiguang Chen","raw_affiliation_strings":["Beijing Academy of Artificial Intelligence"],"affiliations":[{"raw_affiliation_string":"Beijing Academy of Artificial Intelligence","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101397326","display_name":"Dai Liu","orcid":"https://orcid.org/0000-0001-7794-6468"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu Dai","raw_affiliation_strings":["Tongji University"],"affiliations":[{"raw_affiliation_string":"Tongji University","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100351708","display_name":"He Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Wang","raw_affiliation_strings":["Peking University,CFCS, School of Computer Science"],"affiliations":[{"raw_affiliation_string":"Peking University,CFCS, School of Computer Science","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5034850281"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":6.1942,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.97032519,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1399","last_page":"1405"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9890999794006348,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9850999712944031,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7284997701644897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4848231375217438},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.4541385769844055},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44594067335128784},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37360864877700806}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7284997701644897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4848231375217438},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.4541385769844055},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44594067335128784},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37360864877700806},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610125","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610125","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1951089663","https://openalex.org/W2166964258","https://openalex.org/W2481819320","https://openalex.org/W2554344625","https://openalex.org/W2736601468","https://openalex.org/W2810785043","https://openalex.org/W2910474428","https://openalex.org/W2949924544","https://openalex.org/W2986699881","https://openalex.org/W3005451807","https://openalex.org/W3034324855","https://openalex.org/W3035198432","https://openalex.org/W3043971245","https://openalex.org/W3089355520","https://openalex.org/W3182194800","https://openalex.org/W3202574082","https://openalex.org/W3204876017","https://openalex.org/W3213974477","https://openalex.org/W4214757082","https://openalex.org/W4221167433","https://openalex.org/W4226287632","https://openalex.org/W4283453676","https://openalex.org/W4285273130","https://openalex.org/W4286897215","https://openalex.org/W4287112297","https://openalex.org/W4293473682","https://openalex.org/W4297675755","https://openalex.org/W4301045096","https://openalex.org/W4382366145","https://openalex.org/W4383109008","https://openalex.org/W4385430556","https://openalex.org/W4385607490","https://openalex.org/W4386083032","https://openalex.org/W6741002519","https://openalex.org/W6753243525","https://openalex.org/W6763422710","https://openalex.org/W6769375871","https://openalex.org/W6797065961","https://openalex.org/W6800004206","https://openalex.org/W6804602582","https://openalex.org/W6839390177","https://openalex.org/W6843357306"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Mobile":[0],"manipulation":[1,23,44],"constitutes":[2],"a":[3,41,56,81,96,153],"fundamental":[4],"task":[5],"for":[6,34,86,134],"robotic":[7],"assistants":[8],"and":[9,105,143,158],"garners":[10],"significant":[11],"attention":[12],"within":[13],"the":[14,25,29,62,71,92,103,120,131,141,171,182],"robotics":[15],"community.":[16],"A":[17],"critical":[18],"challenge":[19],"inherent":[20],"in":[21,180,189],"mobile":[22,43],"is":[24],"effective":[26],"observation":[27,84,157],"of":[28,99,107,173],"target":[30,132],"while":[31,129],"approaching":[32,130],"it":[33],"grasping.":[35,135],"In":[36],"this":[37],"work,":[38],"we":[39,147,168],"propose":[40],"graspability-aware":[42],"approach":[45],"powered":[46],"by":[47],"an":[48,116],"online":[49,67],"grasping":[50,59,64,74,82,93,108,165,177],"pose":[51,83],"fusion":[52],"framework":[53],"that":[54,125,149,170],"enables":[55,95],"temporally":[57],"consistent":[58],"observation.":[60],"Specifically,":[61],"predicted":[63],"poses":[65,94,178],"are":[66],"organized":[68],"to":[69,122,186],"eliminate":[70],"redundant,":[72],"outlier":[73],"poses,":[75],"which":[76],"can":[77,112],"be":[78],"encoded":[79],"as":[80,115],"state":[85],"reinforcement":[87],"learning.":[88],"Moreover,":[89],"on-the-fly":[90],"fusing":[91],"direct":[97],"assessment":[98,111],"graspability,":[100],"encompassing":[101],"both":[102],"quantity":[104],"quality":[106],"poses.":[109],"This":[110],"subsequently":[113],"serve":[114],"observe-to-grasp":[117],"reward,":[118],"motivating":[119],"agent":[121],"prioritize":[123],"actions":[124],"yield":[126],"detailed":[127],"observations":[128],"object":[133],"Through":[136],"extensive":[137],"experiments":[138],"conducted":[139],"on":[140],"Habitat":[142],"Isaac":[144],"Gym":[145],"simulators,":[146],"find":[148],"our":[150],"method":[151],"attains":[152],"good":[154],"balance":[155],"between":[156],"manipulation,":[159],"yielding":[160],"high":[161],"performance":[162,188],"under":[163],"various":[164],"metrics.":[166],"Furthermore,":[167],"discover":[169],"incorporation":[172],"temporal":[174],"information":[175],"from":[176],"aids":[179],"mitigating":[181],"sim-to-real":[183],"gap,":[184],"leading":[185],"robust":[187],"challenging":[190],"real-world":[191],"experiments.":[192],"Project":[193],"page:":[194],"https://pku-epic.github.io/GAMMA/":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":3}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
