{"id":"https://openalex.org/W2294027514","doi":"https://doi.org/10.1109/iros.2016.7759310","title":"Unscented Bayesian optimization for safe robot grasping","display_name":"Unscented Bayesian optimization for safe robot grasping","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2294027514","doi":"https://doi.org/10.1109/iros.2016.7759310","mag":"2294027514"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759310","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759310","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/1603.02038","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000079986","display_name":"Jos\u00e9 Duarte Nogueira","orcid":"https://orcid.org/0000-0002-0198-2160"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jose Nogueira","raw_affiliation_strings":["Institute for Systems and Robotics, Universidade de Lisboa, Portugal","Institute for Systems and Robotics - Instituto Superior T\u00e9cnico, Universidade de Lisboa, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Universidade de Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103"]},{"raw_affiliation_string":"Institute for Systems and Robotics - Instituto Superior T\u00e9cnico, Universidade de Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103","https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049372967","display_name":"Rub\u00e9n Mart\u00ednez-Cant\u00edn","orcid":"https://orcid.org/0000-0002-6741-844X"},"institutions":[{"id":"https://openalex.org/I4210100615","display_name":"Centro Universitario de la Defensa en San Javier","ror":"https://ror.org/00nqz4988","country_code":"ES","type":"education","lineage":["https://openalex.org/I4210100615"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ruben Martinez-Cantin","raw_affiliation_strings":["Centro Universitario de la Defensa, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro Universitario de la Defensa, Zaragoza, Spain","institution_ids":["https://openalex.org/I4210100615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028959217","display_name":"Alexandre Bernardino","orcid":"https://orcid.org/0000-0003-3991-1269"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Alexandre Bernardino","raw_affiliation_strings":["Institute for Systems and Robotics, Universidade de Lisboa, Portugal","Institute for Systems and Robotics - Instituto Superior T\u00e9cnico, Universidade de Lisboa, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Universidade de Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103"]},{"raw_affiliation_string":"Institute for Systems and Robotics - Instituto Superior T\u00e9cnico, Universidade de Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103","https://openalex.org/I4210166615"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064713691","display_name":"Lorenzo Jamone","orcid":"https://orcid.org/0000-0002-1521-6168"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Lorenzo Jamone","raw_affiliation_strings":["Institute for Systems and Robotics, Universidade de Lisboa, Portugal","Institute for Systems and Robotics - Instituto Superior T\u00e9cnico, Universidade de Lisboa, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Universidade de Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103"]},{"raw_affiliation_string":"Institute for Systems and Robotics - Instituto Superior T\u00e9cnico, Universidade de Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103","https://openalex.org/I4210166615"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1967","last_page":"1972"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9994000196456909,"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/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8008894920349121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6070060729980469},{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.6019055247306824},{"id":"https://openalex.org/keywords/unscented-transform","display_name":"Unscented transform","score":0.5638315677642822},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5571223497390747},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5273897051811218},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.5169505476951599},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.49334660172462463},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47272032499313354},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.44833076000213623},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.4313116669654846},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19437259435653687},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14991891384124756},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.13878178596496582}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8008894920349121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6070060729980469},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.6019055247306824},{"id":"https://openalex.org/C139399703","wikidata":"https://www.wikidata.org/wiki/Q7897426","display_name":"Unscented transform","level":5,"score":0.5638315677642822},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5571223497390747},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5273897051811218},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.5169505476951599},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.49334660172462463},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47272032499313354},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44833076000213623},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4313116669654846},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19437259435653687},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14991891384124756},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.13878178596496582},{"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/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/iros.2016.7759310","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759310","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1603.02038","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1603.02038","pdf_url":"https://arxiv.org/pdf/1603.02038","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":"","raw_type":"text"},{"id":"pmh:oai:arXiv.org:1603.02038","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1603.02038","pdf_url":"https://arxiv.org/pdf/1603.02038","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":"pmh:oai:zaguan.unizar.es:131424","is_oa":true,"landing_page_url":"http://zaguan.unizar.es/record/131424","pdf_url":"https://zaguan.unizar.es/record/131424/files/texto_completo.pdf","source":{"id":"https://openalex.org/S4306401812","display_name":"Zaguan (University of Zaragoza Repository)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I255234318","host_organization_name":"Universidad de Zaragoza","host_organization_lineage":["https://openalex.org/I255234318"],"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/article"},{"id":"mag:2294027514","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1603.02038.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":"doi:10.48550/arxiv.1603.02038","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1603.02038","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:1603.02038","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1603.02038","pdf_url":"https://arxiv.org/pdf/1603.02038","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":"","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.75,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G2138259280","display_name":null,"funder_award_id":"UID/EEA/50009/2013","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"},{"id":"https://openalex.org/G787757375","display_name":null,"funder_award_id":"50009","funder_id":"https://openalex.org/F4320334779","funder_display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia"}],"funders":[{"id":"https://openalex.org/F4320334779","display_name":"Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","ror":"https://ror.org/00snfqn58"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W770013183","https://openalex.org/W1155403144","https://openalex.org/W1510052597","https://openalex.org/W1520710862","https://openalex.org/W1738827650","https://openalex.org/W1749494163","https://openalex.org/W1969513389","https://openalex.org/W1993271327","https://openalex.org/W1999156278","https://openalex.org/W2063180182","https://openalex.org/W2070678636","https://openalex.org/W2070784071","https://openalex.org/W2076186907","https://openalex.org/W2083327122","https://openalex.org/W2096649264","https://openalex.org/W2099201756","https://openalex.org/W2101997843","https://openalex.org/W2105813220","https://openalex.org/W2107802551","https://openalex.org/W2121658992","https://openalex.org/W2123487311","https://openalex.org/W2135348862","https://openalex.org/W2136213019","https://openalex.org/W2139805416","https://openalex.org/W2139929624","https://openalex.org/W2143277772","https://openalex.org/W2162621328","https://openalex.org/W2950182411","https://openalex.org/W2951023755","https://openalex.org/W2951665052","https://openalex.org/W4236876623","https://openalex.org/W6622391652","https://openalex.org/W6675200109","https://openalex.org/W6676327744","https://openalex.org/W6677764299","https://openalex.org/W6678911119","https://openalex.org/W6679235284"],"related_works":["https://openalex.org/W2963481418","https://openalex.org/W2910733281","https://openalex.org/W3208202799","https://openalex.org/W2162793870","https://openalex.org/W2128613422","https://openalex.org/W2762491123","https://openalex.org/W2016004644","https://openalex.org/W3207713578","https://openalex.org/W2969158650","https://openalex.org/W2891053015","https://openalex.org/W2266349496","https://openalex.org/W1746819321","https://openalex.org/W2963785592","https://openalex.org/W2999816174","https://openalex.org/W3118616639","https://openalex.org/W2729705546","https://openalex.org/W2907522366","https://openalex.org/W3208653122","https://openalex.org/W2948855578","https://openalex.org/W2962983251"],"abstract_inverted_index":{"Safe":[0],"and":[1,139,147],"robust":[2,146],"grasping":[3],"of":[4,37,60,89,121],"unknown":[5],"objects":[6],"is":[7,43],"a":[8,100,151],"major":[9],"challenge":[10],"in":[11,113,136,140],"robotics,":[12],"which":[13],"has":[14],"no":[15],"general":[16],"solution":[17],"yet.":[18],"A":[19],"promising":[20],"approach":[21],"relies":[22],"on":[23],"haptic":[24],"exploration,":[25],"where":[26],"active":[27],"optimization":[28,51,109,134],"strategies":[29],"can":[30],"be":[31,54,95],"employed":[32],"to":[33,57,118],"reduce":[34,86],"the":[35,50,61,87,114,119,131],"number":[36],"exploration":[38,153],"trials.":[39,154],"One":[40],"critical":[41],"problem":[42],"that":[44,106],"certain":[45],"optimal":[46,80],"grasps":[47,71,81,93,149],"discoverd":[48],"by":[49],"procedure":[52],"may":[53,78],"very":[55],"sensitive":[56],"small":[58,73],"deviations":[59],"parameters":[62],"from":[63],"their":[64],"nominal":[65],"values:":[66],"we":[67,98],"call":[68],"these":[69],"unsafe":[70],"because":[72],"errors":[74],"during":[75],"motor":[76],"execution":[77],"turn":[79],"into":[82],"bad":[83],"grasps.":[84],"To":[85],"risk":[88],"grasp":[90,143],"failure,":[91],"safe":[92,122,148],"should":[94],"favoured.":[96],"Therefore,":[97],"propose":[99],"new":[101],"algorithm,":[102],"unscented":[103],"Bayesian":[104,133],"optimization,":[105],"performs":[107],"efficient":[108],"while":[110],"considering":[111],"uncertainty":[112],"input":[115],"space,":[116],"leading":[117],"discovery":[120],"optima.":[123],"The":[124],"results":[125],"highlight":[126],"how":[127],"our":[128],"method":[129],"outperforms":[130],"classical":[132],"both":[135],"synthetic":[137],"problems":[138],"realistic":[141],"robot":[142],"simulations,":[144],"finding":[145],"after":[150],"few":[152]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
