{"id":"https://openalex.org/W2566638765","doi":"https://doi.org/10.1109/iros.2016.7759723","title":"Active tactile object exploration with Gaussian processes","display_name":"Active tactile object exploration with Gaussian processes","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2566638765","doi":"https://doi.org/10.1109/iros.2016.7759723","mag":"2566638765"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759723","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":"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/A5018768566","display_name":"Zhengkun Yi","orcid":"https://orcid.org/0000-0002-8714-1353"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["DE","SG"],"is_corresponding":true,"raw_author_name":"Zhengkun Yi","raw_affiliation_strings":["Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002235575","display_name":"Roberto Calandra","orcid":"https://orcid.org/0000-0001-9430-8433"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Roberto Calandra","raw_affiliation_strings":["Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013781797","display_name":"Filipe Veiga","orcid":"https://orcid.org/0000-0002-0889-0242"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Filipe Veiga","raw_affiliation_strings":["Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057277609","display_name":"Herke van Hoof","orcid":"https://orcid.org/0000-0002-1583-3692"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Herke van Hoof","raw_affiliation_strings":["Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000432183","display_name":"Tucker Hermans","orcid":"https://orcid.org/0000-0003-2496-2768"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tucker Hermans","raw_affiliation_strings":["University of Utah Robotics Center, University of Utah, School of Computing, USA"],"affiliations":[{"raw_affiliation_string":"University of Utah Robotics Center, University of Utah, School of Computing, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100694323","display_name":"Yilei Zhang","orcid":"https://orcid.org/0000-0002-5694-8699"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yilei Zhang","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5018768566"],"corresponding_institution_ids":["https://openalex.org/I172675005","https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":6.7703,"has_fulltext":false,"cited_by_count":95,"citation_normalized_percentile":{"value":0.96980403,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"4925","last_page":"4930"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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":0.9983000159263611,"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":0.9782999753952026,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9769999980926514,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7486664652824402},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7389519214630127},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6953259110450745},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6641088128089905},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5973721146583557},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.590673565864563},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5602749586105347},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5495825409889221},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5452878475189209},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.501420259475708},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4751802980899811},{"id":"https://openalex.org/keywords/object-model","display_name":"Object model","score":0.46483466029167175},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4510648548603058},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.45065993070602417},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4413593113422394},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4106369614601135},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.21202018857002258},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1473093032836914},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07861638069152832}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7486664652824402},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7389519214630127},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6953259110450745},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6641088128089905},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5973721146583557},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.590673565864563},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5602749586105347},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5495825409889221},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5452878475189209},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.501420259475708},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4751802980899811},{"id":"https://openalex.org/C20894473","wikidata":"https://www.wikidata.org/wiki/Q1116105","display_name":"Object model","level":3,"score":0.46483466029167175},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4510648548603058},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.45065993070602417},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4413593113422394},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4106369614601135},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.21202018857002258},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1473093032836914},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07861638069152832},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2016.7759723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759723","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:pure.mpg.de:item_2429091","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-002D-2652-0","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:107785","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/107785/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzver\u00f6ffentlichung"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W770013183","https://openalex.org/W1024319585","https://openalex.org/W1746819321","https://openalex.org/W1983156320","https://openalex.org/W1984974392","https://openalex.org/W1985020152","https://openalex.org/W2000359198","https://openalex.org/W2000779431","https://openalex.org/W2016115400","https://openalex.org/W2017444601","https://openalex.org/W2034939775","https://openalex.org/W2047089617","https://openalex.org/W2050595634","https://openalex.org/W2061144551","https://openalex.org/W2104347990","https://openalex.org/W2107153006","https://openalex.org/W2111010907","https://openalex.org/W2113741278","https://openalex.org/W2115669646","https://openalex.org/W2115846099","https://openalex.org/W2121658992","https://openalex.org/W2128613422","https://openalex.org/W2128681845","https://openalex.org/W2131241448","https://openalex.org/W2131627640","https://openalex.org/W2145501120","https://openalex.org/W2145546522","https://openalex.org/W2160014001","https://openalex.org/W2162663220","https://openalex.org/W2180140657","https://openalex.org/W2209829030","https://openalex.org/W2421020186","https://openalex.org/W2566450466","https://openalex.org/W3104815438","https://openalex.org/W4211049957","https://openalex.org/W6678911119","https://openalex.org/W6679235284","https://openalex.org/W6685602438","https://openalex.org/W6688350879"],"related_works":["https://openalex.org/W2033256001","https://openalex.org/W2057088859","https://openalex.org/W1895481218","https://openalex.org/W3163518500","https://openalex.org/W2150609833","https://openalex.org/W2025677844","https://openalex.org/W2955383310","https://openalex.org/W2529143673","https://openalex.org/W2169866437","https://openalex.org/W1964286703"],"abstract_inverted_index":{"Accurate":[0],"object":[1,17,23,57,64,91,102],"shape":[2],"knowledge":[3],"provides":[4],"important":[5],"information":[6,75],"for":[7,89],"performing":[8],"stable":[9],"grasping":[10],"and":[11,70],"dexterous":[12],"manipulation.":[13],"When":[14],"modeling":[15,93],"an":[16,40],"using":[18,66,94],"tactile":[19,90],"sensors,":[20],"touching":[21],"the":[22,47,63,72,79,86],"surface":[24,48,65,92],"at":[25],"a":[26,53,67,95],"fixed":[27],"grid":[28],"of":[29,56],"points":[30],"can":[31],"be":[32],"sample":[33],"inefficient.":[34],"In":[35,59],"this":[36],"paper,":[37],"we":[38,61],"present":[39],"active":[41],"touch":[42],"strategy":[43],"to":[44,76,82,98],"efficiently":[45,77],"reduce":[46],"geometry":[49],"uncertainty":[50,74],"by":[51],"leveraging":[52],"probabilistic":[54],"representation":[55],"surface.":[58],"particular,":[60],"model":[62],"Gaussian":[68],"process":[69],"use":[71],"associated":[73],"determine":[78],"next":[80],"point":[81],"explore.":[83],"We":[84],"validate":[85],"resulting":[87],"method":[88],"real":[96],"robot":[97],"reconstruct":[99],"multiple,":[100],"complex":[101],"surfaces.":[103]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
