{"id":"https://openalex.org/W2103062649","doi":"https://doi.org/10.1109/iros.2011.6094503","title":"Embodiment-specific representation of robot grasping using graphical models and latent-space discretization","display_name":"Embodiment-specific representation of robot grasping using graphical models and latent-space discretization","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2103062649","doi":"https://doi.org/10.1109/iros.2011.6094503","mag":"2103062649"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094503","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5100634206","display_name":"Dan Song","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Dan Song","raw_affiliation_strings":["KTH Royal Institute of Technology, Stockholm, Sweden","KTH Royal Institute of Technology; Stockholm Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH Royal Institute of Technology; Stockholm Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022800415","display_name":"Carl Henrik Ek","orcid":"https://orcid.org/0000-0003-1302-6309"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"C. H. Ek","raw_affiliation_strings":["KTH Royal Institute of Technology, Stockholm, Sweden","KTH Royal Institute of Technology; Stockholm Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH Royal Institute of Technology; Stockholm Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066518445","display_name":"Kai Huebner","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"K. Huebner","raw_affiliation_strings":["KTH Royal Institute of Technology, Stockholm, Sweden","KTH Royal Institute of Technology; Stockholm Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH Royal Institute of Technology; Stockholm Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023792180","display_name":"Danica Kragi\u0107","orcid":"https://orcid.org/0000-0003-2965-2953"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"D. Kragic","raw_affiliation_strings":["KTH Royal Institute of Technology, Stockholm, Sweden","KTH Royal Institute of Technology; Stockholm Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH Royal Institute of Technology; Stockholm Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100634206"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":5.1651,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.94537703,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"980","last_page":"986"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9991999864578247,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9871000051498413,"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/computer-science","display_name":"Computer science","score":0.7066008448600769},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.630744218826294},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6286298036575317},{"id":"https://openalex.org/keywords/bayesian-network","display_name":"Bayesian network","score":0.6193825006484985},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.6173537969589233},{"id":"https://openalex.org/keywords/graphical-model","display_name":"Graphical model","score":0.6112847328186035},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6096880435943604},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5454805493354797},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5024478435516357},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.48666292428970337},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.452958881855011},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4476197063922882},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.44539880752563477},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15354394912719727}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7066008448600769},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.630744218826294},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6286298036575317},{"id":"https://openalex.org/C33724603","wikidata":"https://www.wikidata.org/wiki/Q812540","display_name":"Bayesian network","level":2,"score":0.6193825006484985},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.6173537969589233},{"id":"https://openalex.org/C155846161","wikidata":"https://www.wikidata.org/wiki/Q1143367","display_name":"Graphical model","level":2,"score":0.6112847328186035},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6096880435943604},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5454805493354797},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5024478435516357},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.48666292428970337},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.452958881855011},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4476197063922882},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.44539880752563477},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15354394912719727},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2011.6094503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094503","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/ae1b84c2-8c40-4231-ae10-7cece2eb8c11","is_oa":false,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/ae1b84c2-8c40-4231-ae10-7cece2eb8c11","pdf_url":null,"source":{"id":"https://openalex.org/S7407055359","display_name":"Explore Bristol Research","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Song, D, Ek, C H, Huebner, K & Kragic, D 2011, Embodiment-specific representation of robot grasping using graphical models and latent-space discretization. in IEEE/RSJ International Conference on Intelligent Robots and Systems. pp. 980-986.","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:research-information.bris.ac.uk:publications/ae1b84c2-8c40-4231-ae10-7cece2eb8c11","is_oa":false,"landing_page_url":"https://hdl.handle.net/1983/ae1b84c2-8c40-4231-ae10-7cece2eb8c11","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Song, D, Ek, C H, Huebner, K & Kragic, D 2011, Embodiment-specific representation of robot grasping using graphical models and latent-space discretization. in IEEE/RSJ International Conference on Intelligent Robots and Systems. pp. 980-986.","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W137285897","https://openalex.org/W1510186039","https://openalex.org/W1512797207","https://openalex.org/W1593793857","https://openalex.org/W1684361744","https://openalex.org/W1968565040","https://openalex.org/W1983259492","https://openalex.org/W2047346158","https://openalex.org/W2136111243","https://openalex.org/W2155953626","https://openalex.org/W2161395589","https://openalex.org/W2163166770","https://openalex.org/W2168175751","https://openalex.org/W2171425630","https://openalex.org/W2540104143","https://openalex.org/W3140402894","https://openalex.org/W4211008118","https://openalex.org/W6605566567","https://openalex.org/W6630591169","https://openalex.org/W6645763005","https://openalex.org/W6680375596","https://openalex.org/W6683019739","https://openalex.org/W6921724737"],"related_works":["https://openalex.org/W1984314158","https://openalex.org/W3183113072","https://openalex.org/W2126934800","https://openalex.org/W2187019487","https://openalex.org/W1715419791","https://openalex.org/W643788828","https://openalex.org/W2158940596","https://openalex.org/W4200510307","https://openalex.org/W3125134981","https://openalex.org/W2188106786"],"abstract_inverted_index":{"We":[0],"study":[1],"embodiment-specific":[2],"robot":[3,77],"grasping":[4,35],"tasks,":[5,33],"represented":[6],"in":[7,54,66,119,151],"a":[8,15,21,63,67,73,76,143,152],"probabilistic":[9,30],"framework.":[10],"The":[11,26,39,82],"framework":[12,133],"consists":[13],"of":[14,50,72,90],"Bayesian":[16],"network":[17],"(BN)":[18],"integrated":[19],"with":[20,80],"novel":[22],"multi-variate":[23],"discretization":[24,40],"model.":[25],"BN":[27,96],"models":[28,107],"the":[29,51,55,59,86,91,95,99,103,115,120,131],"relationships":[31],"among":[32],"objects,":[34],"actions":[36],"and":[37,75,98,112,149],"constraints.":[38],"model":[41,145],"provides":[42],"compact":[43],"data":[44],"representation":[45,132],"that":[46,85,130],"allows":[47],"efficient":[48],"learning":[49],"conditional":[52,100],"structures":[53,89],"BN.":[56],"To":[57],"evaluate":[58],"framework,":[60],"we":[61,128],"use":[62],"database":[64],"generated":[65],"simulated":[68],"environment":[69],"including":[70],"examples":[71],"human":[74],"hand":[78],"interacting":[79],"objects.":[81],"results":[83],"show":[84],"different":[87,139],"kinematic":[88],"hands":[92],"affect":[93],"both":[94],"structure":[97],"distributions":[101],"over":[102],"modeled":[104],"variables.":[105],"Both":[106],"achieve":[108],"accurate":[109],"task":[110,117,136],"classification,":[111],"successfully":[113],"encode":[114],"semantic":[116],"requirements":[118],"continuous":[121],"observation":[122],"spaces.":[123],"In":[124],"an":[125],"imitation":[126,150],"experiment,":[127],"demonstrate":[129],"can":[134],"transfer":[135],"knowledge":[137],"between":[138],"embodiments,":[140],"therefore":[141],"is":[142],"suitable":[144],"for":[146],"grasp":[147],"planning":[148],"goal-directed":[153],"manner.":[154]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2021-04-13T00:00:00"}
