{"id":"https://openalex.org/W3004167188","doi":"https://doi.org/10.1109/iros40897.2019.8967816","title":"Robust Grasp Planning Over Uncertain Shape Completions","display_name":"Robust Grasp Planning Over Uncertain Shape Completions","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004167188","doi":"https://doi.org/10.1109/iros40897.2019.8967816","mag":"3004167188"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1903.00645","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064860545","display_name":"Jens Lundell","orcid":"https://orcid.org/0000-0003-2296-6685"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Jens Lundell","raw_affiliation_strings":["Aalto University,School of Electrical Engineering,Finland","School of Electrical Engineering, Aalto University, Finland"],"affiliations":[{"raw_affiliation_string":"Aalto University,School of Electrical Engineering,Finland","institution_ids":["https://openalex.org/I9927081"]},{"raw_affiliation_string":"School of Electrical Engineering, Aalto University, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076436681","display_name":"Francesco Verdoja","orcid":"https://orcid.org/0000-0002-9551-6186"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Francesco Verdoja","raw_affiliation_strings":["Aalto University,School of Electrical Engineering,Finland","School of Electrical Engineering, Aalto University, Finland"],"affiliations":[{"raw_affiliation_string":"Aalto University,School of Electrical Engineering,Finland","institution_ids":["https://openalex.org/I9927081"]},{"raw_affiliation_string":"School of Electrical Engineering, Aalto University, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080940147","display_name":"Ville Kyrki","orcid":"https://orcid.org/0000-0002-5230-5549"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Ville Kyrki","raw_affiliation_strings":["Aalto University,School of Electrical Engineering,Finland","School of Electrical Engineering, Aalto University, Finland"],"affiliations":[{"raw_affiliation_string":"Aalto University,School of Electrical Engineering,Finland","institution_ids":["https://openalex.org/I9927081"]},{"raw_affiliation_string":"School of Electrical Engineering, Aalto University, Finland","institution_ids":["https://openalex.org/I9927081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5064860545"],"corresponding_institution_ids":["https://openalex.org/I9927081"],"apc_list":null,"apc_paid":null,"fwci":5.8803,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.96768985,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1526","last_page":"1532"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9829999804496765,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.978600025177002,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.8839334845542908},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6800265312194824},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6182682514190674},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6072213053703308},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5650346279144287},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5570783019065857},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5402933955192566},{"id":"https://openalex.org/keywords/dropout","display_name":"Dropout (neural networks)","score":0.5270022749900818},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.49802446365356445},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.44816941022872925},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4386565089225769},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3005984425544739},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18679112195968628}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8839334845542908},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6800265312194824},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6182682514190674},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6072213053703308},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5650346279144287},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5570783019065857},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5402933955192566},{"id":"https://openalex.org/C2776145597","wikidata":"https://www.wikidata.org/wiki/Q25339462","display_name":"Dropout (neural networks)","level":2,"score":0.5270022749900818},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.49802446365356445},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.44816941022872925},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4386565089225769},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3005984425544739},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18679112195968628},{"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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8967816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967816","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1903.00645","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.00645","pdf_url":"https://arxiv.org/pdf/1903.00645","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1903.00645","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.00645","pdf_url":"https://arxiv.org/pdf/1903.00645","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W129683836","https://openalex.org/W582134693","https://openalex.org/W1510186039","https://openalex.org/W1522301498","https://openalex.org/W1549675037","https://openalex.org/W1559022906","https://openalex.org/W1706124764","https://openalex.org/W1798702550","https://openalex.org/W2008073424","https://openalex.org/W2008909198","https://openalex.org/W2042246564","https://openalex.org/W2051735505","https://openalex.org/W2057316718","https://openalex.org/W2095705004","https://openalex.org/W2118262422","https://openalex.org/W2138983671","https://openalex.org/W2156583822","https://openalex.org/W2167788274","https://openalex.org/W2524140598","https://openalex.org/W2559882727","https://openalex.org/W2600030077","https://openalex.org/W2650354119","https://openalex.org/W2762491123","https://openalex.org/W2793935089","https://openalex.org/W2889668339","https://openalex.org/W2890646997","https://openalex.org/W2950277768","https://openalex.org/W2963648573","https://openalex.org/W2963735494","https://openalex.org/W2964059111","https://openalex.org/W2964121744","https://openalex.org/W2969090342","https://openalex.org/W3101196391","https://openalex.org/W6605304823","https://openalex.org/W6617145748","https://openalex.org/W6631190155","https://openalex.org/W6638209102","https://openalex.org/W6652231383","https://openalex.org/W6660945953","https://openalex.org/W6674330103","https://openalex.org/W6749266340"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W2515493494"],"abstract_inverted_index":{"We":[0,111],"present":[1],"a":[2,16,24,38,63,123,135,170],"method":[3,117,121],"for":[4],"planning":[5,160,168],"robust":[6],"grasps":[7,128,133,162],"over":[8,166],"uncertain":[9],"shape":[10,14,36,66,70,80,91,109,172],"completed":[11,35,81],"objects.":[12,181],"For":[13],"completion,":[15],"deep":[17],"neural":[18],"network":[19,46],"is":[20,47],"trained":[21],"to":[22,61],"take":[23],"partial":[25],"view":[26],"of":[27,44,65,79,102,150],"the":[28,34,45,69,77,88,108],"object":[29,90],"as":[30,37],"input":[31],"and":[32,114,131,154],"outputs":[33],"voxel":[39],"grid.":[40],"The":[41],"key":[42],"part":[43],"dropout":[48],"layers":[49],"which":[50],"are":[51],"enabled":[52],"not":[53],"only":[54],"during":[55],"training":[56],"but":[57,92],"also":[58],"at":[59],"run-time":[60],"generate":[62,84],"set":[64,78],"samples":[67],"representing":[68],"uncertainty":[71],"through":[72],"Monte":[73],"Carlo":[74],"sampling.":[75],"Given":[76],"objects,":[82],"we":[83],"grasp":[85,104,151,155],"candidates":[86],"on":[87,96,106,126,134,169],"mean":[89],"evaluate":[93],"them":[94],"based":[95],"their":[97],"joint":[98],"performance":[99],"in":[100,129,148],"terms":[101,149],"analytical":[103],"metrics":[105,153],"all":[107],"candidates.":[110],"experimentally":[112],"validate":[113],"benchmark":[115],"our":[116],"against":[118],"another":[119],"state-of-the-art":[120],"with":[122,177],"Barrett":[124],"hand":[125],"90000":[127],"simulation":[130],"200":[132],"real":[136],"Franka":[137],"Emika":[138],"Panda.":[139],"All":[140],"experimental":[141],"results":[142],"show":[143],"statistically":[144],"significant":[145,164],"improvements":[146],"both":[147],"quality":[152],"success":[156],"rate,":[157],"demonstrating":[158],"that":[159],"shape-uncertainty-aware":[161],"brings":[163],"advantages":[165],"solely":[167],"single":[171],"estimate,":[173],"especially":[174],"when":[175],"dealing":[176],"complex":[178],"or":[179],"unknown":[180]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":7}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
