{"id":"https://openalex.org/W2772625704","doi":"https://doi.org/10.1109/iros.2017.8202168","title":"Visual detection of opportunities to exploit contact in grasping using contextual multi-armed bandits","display_name":"Visual detection of opportunities to exploit contact in grasping using contextual multi-armed bandits","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2772625704","doi":"https://doi.org/10.1109/iros.2017.8202168","mag":"2772625704"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202168","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5076300410","display_name":"Clemens Eppner","orcid":"https://orcid.org/0000-0002-5398-4037"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Clemens Eppner","raw_affiliation_strings":["Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039143538","display_name":"Oliver Brock","orcid":"https://orcid.org/0000-0002-3719-7754"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Brock","raw_affiliation_strings":["Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5076300410"],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":1.6093,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.85015112,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"273","last_page":"278"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.993399977684021,"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"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9797000288963318,"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/exploit","display_name":"Exploit","score":0.9073795676231384},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8409712314605713},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7383399605751038},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6946932077407837},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6296178102493286},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5367478132247925},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4696744382381439},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4627276659011841},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.45431965589523315},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4487996995449066},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.4235605001449585},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41921648383140564},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17919042706489563}],"concepts":[{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.9073795676231384},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8409712314605713},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7383399605751038},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6946932077407837},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6296178102493286},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5367478132247925},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4696744382381439},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4627276659011841},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.45431965589523315},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4487996995449066},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.4235605001449585},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41921648383140564},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17919042706489563},{"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8202168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202168","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1503925285","https://openalex.org/W1538133856","https://openalex.org/W1542761027","https://openalex.org/W1593151701","https://openalex.org/W1651456183","https://openalex.org/W1823791555","https://openalex.org/W1888892744","https://openalex.org/W1899217968","https://openalex.org/W1944205345","https://openalex.org/W1969583232","https://openalex.org/W1998498767","https://openalex.org/W2036637075","https://openalex.org/W2041094000","https://openalex.org/W2063987138","https://openalex.org/W2070678636","https://openalex.org/W2077261816","https://openalex.org/W2082232304","https://openalex.org/W2085949256","https://openalex.org/W2107822634","https://openalex.org/W2108114251","https://openalex.org/W2126496149","https://openalex.org/W2127502734","https://openalex.org/W2148039568","https://openalex.org/W2155337985","https://openalex.org/W2160821342","https://openalex.org/W2164575107","https://openalex.org/W2170940415","https://openalex.org/W2182361439","https://openalex.org/W2201912979","https://openalex.org/W2295332248","https://openalex.org/W2414685554","https://openalex.org/W2604756150","https://openalex.org/W2738106482","https://openalex.org/W2962736495","https://openalex.org/W3030498255","https://openalex.org/W4237910115","https://openalex.org/W4297888183","https://openalex.org/W6638668618","https://openalex.org/W6676576766","https://openalex.org/W6685961532","https://openalex.org/W6741234382"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W1496222301","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W3207760230","https://openalex.org/W2059402478","https://openalex.org/W1590307681","https://openalex.org/W2123347777","https://openalex.org/W2366039691"],"abstract_inverted_index":{"Environment-constrained":[0],"grasping":[1,31,44,83,164],"exploits":[2,111],"beneficial":[3],"interactions":[4],"between":[5,22],"hand,":[6],"object,":[7],"and":[8,25,35,119,127,154],"environment":[9],"to":[10,38,48,73,79,89,99],"increase":[11],"grasp":[12,52],"success.":[13],"Instead":[14,64],"of":[15,30,59,65,107,114,161],"focusing":[16],"on":[17,94],"the":[18,33,36,40,57,60,82,112,138,158],"final":[19,50],"static":[20,51,68],"relationship":[21],"hand":[23,118],"posture":[24],"object":[26],"pose,":[27],"this":[28],"view":[29,55],"emphasizes":[32],"need":[34,72],"opportunity":[37],"select":[39],"most":[41],"appropriate,":[42],"contact-rich":[43],"motion,":[45],"leading":[46],"up":[47],"a":[49,87,104,115,121,131,145,162],"configuration.":[53],"This":[54],"changes":[56],"nature":[58],"underlying":[61],"planning":[62,66],"problem:":[63],"for":[67,103,124],"contact":[69],"points,":[70],"we":[71,135],"decide":[74],"which":[75],"environmental":[76],"constraint":[77],"(EC)":[78],"use":[80],"during":[81],"motion.":[84],"We":[85],"propose":[86],"method":[88],"make":[90],"these":[91],"decisions":[92],"based":[93],"depth":[95],"measurements":[96],"so":[97],"as":[98],"generate":[100],"robust":[101],"grasps":[102],"large":[105],"variety":[106],"objects.":[108],"Our":[109],"planner":[110],"advantages":[113],"soft":[116],"robot":[117],"learns":[120],"hand-specific":[122],"classifier":[123],"edge-,":[125],"surface-,":[126],"wall-grasps,":[128],"each":[129],"exploiting":[130],"different":[132],"EC.":[133],"Additionally,":[134],"show":[136],"how":[137],"model":[139],"can":[140],"continuously":[141],"be":[142],"improved":[143],"in":[144],"contextual":[146],"multi-armed":[147],"bandit":[148],"setting":[149],"without":[150],"an":[151],"explicit":[152],"training":[153],"test":[155],"phase,":[156],"enabling":[157],"continuous":[159],"improvement":[160],"robot's":[163],"skills":[165],"throughout":[166],"life":[167],"time.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
