{"id":"https://openalex.org/W2911012597","doi":"https://doi.org/10.1109/ijcnn.2019.8851984","title":"TactileGCN: A Graph Convolutional Network for Predicting Grasp Stability with Tactile Sensors","display_name":"TactileGCN: A Graph Convolutional Network for Predicting Grasp Stability with Tactile Sensors","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2911012597","doi":"https://doi.org/10.1109/ijcnn.2019.8851984","mag":"2911012597"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn.2019.8851984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn.2019.8851984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Joint Conference on Neural Networks (IJCNN)","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/1901.06181","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020133110","display_name":"Alberto Garc\u00eda-Garc\u00eda","orcid":"https://orcid.org/0000-0002-9575-6403"},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alberto Garcia-Garcia","raw_affiliation_strings":["3D Perception, Lab University of Alicante, Alicante, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"3D Perception, Lab University of Alicante, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057139722","display_name":"Brayan S. Zapata-Impata","orcid":"https://orcid.org/0000-0001-9891-0392"},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Brayan S. Zapata-Impata","raw_affiliation_strings":["Automatics, Robotics and Artificial Vision Lab, University of Alicante, Alicante, Spain","[Automatics, Robotics and Artificial Vision Lab, University of Alicante, Alicante, Spain]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automatics, Robotics and Artificial Vision Lab, University of Alicante, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]},{"raw_affiliation_string":"[Automatics, Robotics and Artificial Vision Lab, University of Alicante, Alicante, Spain]","institution_ids":["https://openalex.org/I130194489"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035773003","display_name":"Sergio Orts\u2010Escolano","orcid":"https://orcid.org/0000-0001-6817-6326"},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Sergio Orts-Escolano","raw_affiliation_strings":["3D Perception, Lab University of Alicante, Alicante, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"3D Perception, Lab University of Alicante, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022395891","display_name":"Pablo Gil","orcid":"https://orcid.org/0000-0001-9288-0161"},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Pablo Gil","raw_affiliation_strings":["Automatics, Robotics and Artificial Vision Lab, University of Alicante, Alicante, Spain","[Automatics, Robotics and Artificial Vision Lab, University of Alicante, Alicante, Spain]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automatics, Robotics and Artificial Vision Lab, University of Alicante, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]},{"raw_affiliation_string":"[Automatics, Robotics and Artificial Vision Lab, University of Alicante, Alicante, Spain]","institution_ids":["https://openalex.org/I130194489"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079599826","display_name":"Jos\u00e9 Garc\u00eda\u2010Rodr\u00edguez","orcid":"https://orcid.org/0000-0002-7798-3055"},"institutions":[{"id":"https://openalex.org/I130194489","display_name":"University of Alicante","ror":"https://ror.org/05t8bcz72","country_code":"ES","type":"education","lineage":["https://openalex.org/I130194489"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jose Garcia-Rodriguez","raw_affiliation_strings":["3D Perception, Lab University of Alicante, Alicante, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"3D Perception, Lab University of Alicante, Alicante, Spain","institution_ids":["https://openalex.org/I130194489"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130194489"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9954000115394592,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9954000115394592,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9887999892234802,"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/T11704","display_name":"Mobile Crowdsensing and Crowdsourcing","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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/grasp","display_name":"GRASP","score":0.9341737031936646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7122249603271484},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6873369812965393},{"id":"https://openalex.org/keywords/locality","display_name":"Locality","score":0.6298417448997498},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5905792713165283},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5506432056427002},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5464218854904175},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4911760985851288},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42170509696006775},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4154911935329437},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.41006791591644287},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3221835196018219},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12389111518859863},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11480623483657837},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.09452936053276062}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9341737031936646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7122249603271484},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6873369812965393},{"id":"https://openalex.org/C2779808786","wikidata":"https://www.wikidata.org/wiki/Q6664603","display_name":"Locality","level":2,"score":0.6298417448997498},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5905792713165283},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5506432056427002},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5464218854904175},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4911760985851288},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42170509696006775},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4154911935329437},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.41006791591644287},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3221835196018219},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12389111518859863},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11480623483657837},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.09452936053276062},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","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},{"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":6,"locations":[{"id":"doi:10.1109/ijcnn.2019.8851984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn.2019.8851984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1901.06181","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1901.06181","pdf_url":"https://arxiv.org/pdf/1901.06181","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:2911012597","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1901.06181.pdf","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:rua.ua.es:10045/110537","is_oa":false,"landing_page_url":"http://hdl.handle.net/10045/110537","pdf_url":null,"source":{"id":"https://openalex.org/S4306400416","display_name":"Repositorio Institucional de la Universidad de Alicante (Universidad de Alicante)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130194489","host_organization_name":"University of Alicante","host_organization_lineage":["https://openalex.org/I130194489"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:zenodo.org:12794222","is_oa":true,"landing_page_url":"https://doi.org/10.1109/IJCNN.2019.8851984","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IJCNN, International Joint Conference on Neural Networks, Budapest (Hungary), 14-19 JULY 2019","raw_type":"info:eu-repo/semantics/conferencePaper"},{"id":"doi:10.48550/arxiv.1901.06181","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1901.06181","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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1901.06181","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1901.06181","pdf_url":"https://arxiv.org/pdf/1901.06181","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":[{"id":"https://metadata.un.org/sdg/4","score":0.8500000238418579,"display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W971303027","https://openalex.org/W1662382123","https://openalex.org/W2026499961","https://openalex.org/W2048432791","https://openalex.org/W2101491865","https://openalex.org/W2199073508","https://openalex.org/W2221877149","https://openalex.org/W2340307996","https://openalex.org/W2518171088","https://openalex.org/W2519887557","https://openalex.org/W2558748708","https://openalex.org/W2604314403","https://openalex.org/W2606202972","https://openalex.org/W2731057901","https://openalex.org/W2766453196","https://openalex.org/W2768308213","https://openalex.org/W2775095556","https://openalex.org/W2890395021","https://openalex.org/W2895765426","https://openalex.org/W2901136733","https://openalex.org/W2963021155","https://openalex.org/W2963915174","https://openalex.org/W2964321699","https://openalex.org/W6637178625","https://openalex.org/W6703610158","https://openalex.org/W6720006811","https://openalex.org/W6726873649","https://openalex.org/W6736701333","https://openalex.org/W6745274615","https://openalex.org/W6745537798","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2890395021","https://openalex.org/W3111280325","https://openalex.org/W3134000129","https://openalex.org/W3130179514","https://openalex.org/W2793935089","https://openalex.org/W3186848911","https://openalex.org/W2964214518","https://openalex.org/W2334166165","https://openalex.org/W2736534894","https://openalex.org/W2959735980","https://openalex.org/W2229205796","https://openalex.org/W2083181129","https://openalex.org/W2562087194","https://openalex.org/W2903364556","https://openalex.org/W3191012819","https://openalex.org/W1899217968","https://openalex.org/W2273288572","https://openalex.org/W2783693550","https://openalex.org/W3000575545","https://openalex.org/W3127246939"],"abstract_inverted_index":{"Tactile":[0],"sensors":[1],"provide":[2],"useful":[3],"contact":[4],"data":[5],"during":[6],"the":[7,21,28,31,76,81,114],"interaction":[8],"with":[9,136],"an":[10,56],"object":[11],"which":[12,74],"can":[13,149],"be":[14,150],"used":[15,152],"to":[16,19,46,63,95,153],"accurately":[17],"learn":[18],"determine":[20],"stability":[22,66],"of":[23,27,59,71,80,123],"a":[24,91,120],"grasp.":[25],"Most":[26],"works":[29],"in":[30],"literature":[32],"represented":[33],"tactile":[34,42,61,72],"readings":[35],"as":[36,99],"plain":[37],"feature":[38],"vectors":[39],"or":[40,101],"matrix-like":[41],"images,":[43],"using":[44],"them":[45],"train":[47,105],"machine":[48],"learning":[49],"models.":[50],"In":[51,87],"this":[52,146],"work,":[53],"we":[54,89,118],"explore":[55],"alternative":[57],"way":[58],"exploiting":[60],"information":[62],"predict":[64,154],"grasp":[65,155],"by":[67],"leveraging":[68],"graph-like":[69],"representations":[70],"data,":[73],"preserve":[75],"actual":[77],"spatial":[78],"arrangement":[79],"sensor's":[82],"taxels":[83],"and":[84,108,133],"their":[85],"locality.":[86],"experimentation,":[88],"trained":[90],"Graph":[92],"Neural":[93],"Network":[94],"binary":[96],"classify":[97],"grasps":[98,127,135],"stable":[100],"slippery":[102],"ones.":[103],"To":[104],"such":[106],"network":[107],"prove":[109,144],"its":[110],"predictive":[111],"capabilities":[112],"for":[113,131,140],"problem":[115],"at":[116],"hand,":[117],"captured":[119],"novel":[121,147],"dataset":[122],"~":[124],"5000":[125],"three-fingered":[126],"across":[128],"41":[129],"objects":[130,139],"training":[132],"1000":[134],"10":[137],"unknown":[138],"testing.":[141],"Our":[142],"experiments":[143],"that":[145],"approach":[148],"effectively":[151],"stability.":[156]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
