{"id":"https://openalex.org/W4389667056","doi":"https://doi.org/10.1109/iros55552.2023.10341776","title":"A Grasp Pose is All You Need: Learning Multi-Fingered Grasping with Deep Reinforcement Learning from Vision and Touch","display_name":"A Grasp Pose is All You Need: Learning Multi-Fingered Grasping with Deep Reinforcement Learning from Vision and Touch","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667056","doi":"https://doi.org/10.1109/iros55552.2023.10341776"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5031347089","display_name":"Federico Ceola","orcid":"https://orcid.org/0000-0002-2356-0946"},"institutions":[{"id":"https://openalex.org/I4210139705","display_name":"Ingegneria dei Sistemi (Italy)","ror":"https://ror.org/03spsm219","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210139705"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Federico Ceola","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoid Sensing and Perception (HSP),Genoa,Italy","Humanoid Sensing and Perception (HSP), Istituto Italiano di Tecnologia (IIT), Genoa, Italy","Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS), Laboratory for Computational and Statistical Learning (LCSL) and Machine Learning Genoa Center (MaLGa), University of Genoa, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoid Sensing and Perception (HSP),Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Humanoid Sensing and Perception (HSP), Istituto Italiano di Tecnologia (IIT), Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS), Laboratory for Computational and Statistical Learning (LCSL) and Machine Learning Genoa Center (MaLGa), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I4210139705","https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012621119","display_name":"Elisa Maiettini","orcid":"https://orcid.org/0000-0002-0127-3014"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elisa Maiettini","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoid Sensing and Perception (HSP),Genoa,Italy","Humanoid Sensing and Perception (HSP), Istituto Italiano di Tecnologia (IIT), Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoid Sensing and Perception (HSP),Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Humanoid Sensing and Perception (HSP), Istituto Italiano di Tecnologia (IIT), Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061220999","display_name":"Lorenzo Rosasco","orcid":"https://orcid.org/0000-0003-3098-383X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]},{"id":"https://openalex.org/I4210139705","display_name":"Ingegneria dei Sistemi (Italy)","ror":"https://ror.org/03spsm219","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210139705"]}],"countries":["IT","US"],"is_corresponding":false,"raw_author_name":"Lorenzo Rosasco","raw_affiliation_strings":["University of Genoa,Laboratory for Computational and Statistical Learning (LCSL) and Machine Learning Genoa Center (MaLGa),Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS),Genoa,Italy","Center for Brains, Minds and Machines (CBMM), Istituto Italiano di Tecnologia (IIT), Massachusetts Institute of Technology (MIT), Cambridge, MA","Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS), Laboratory for Computational and Statistical Learning (LCSL) and Machine Learning Genoa Center (MaLGa), University of Genoa, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Genoa,Laboratory for Computational and Statistical Learning (LCSL) and Machine Learning Genoa Center (MaLGa),Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS),Genoa,Italy","institution_ids":["https://openalex.org/I4210139705","https://openalex.org/I83816512"]},{"raw_affiliation_string":"Center for Brains, Minds and Machines (CBMM), Istituto Italiano di Tecnologia (IIT), Massachusetts Institute of Technology (MIT), Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Dipartimento di Informatica, Bioingegneria, Robotica e Ingegneria dei Sistemi (DIBRIS), Laboratory for Computational and Statistical Learning (LCSL) and Machine Learning Genoa Center (MaLGa), University of Genoa, Genoa, Italy","institution_ids":["https://openalex.org/I4210139705","https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009034971","display_name":"Lorenzo Natale","orcid":"https://orcid.org/0000-0002-8777-5233"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Natale","raw_affiliation_strings":["Istituto Italiano di Tecnologia (IIT),Humanoid Sensing and Perception (HSP),Genoa,Italy","Humanoid Sensing and Perception (HSP), Istituto Italiano di Tecnologia (IIT), Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia (IIT),Humanoid Sensing and Perception (HSP),Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Humanoid Sensing and Perception (HSP), Istituto Italiano di Tecnologia (IIT), Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031347089"],"corresponding_institution_ids":["https://openalex.org/I30771326","https://openalex.org/I4210139705","https://openalex.org/I83816512"],"apc_list":null,"apc_paid":null,"fwci":1.0716,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.78001125,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2985","last_page":"2992"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9983999729156494,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.9844202995300293},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8249726891517639},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7727259993553162},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7433174252510071},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.707317054271698},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6410164833068848},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5942015647888184},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5269965529441833},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4721653163433075},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.453773558139801},{"id":"https://openalex.org/keywords/physics-engine","display_name":"Physics engine","score":0.43342846632003784},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4167676866054535},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.41401106119155884},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.375802218914032},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34358280897140503},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13115766644477844},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.07932737469673157}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.9844202995300293},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8249726891517639},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7727259993553162},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7433174252510071},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.707317054271698},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6410164833068848},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5942015647888184},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5269965529441833},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4721653163433075},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.453773558139801},{"id":"https://openalex.org/C190390380","wikidata":"https://www.wikidata.org/wiki/Q62505","display_name":"Physics engine","level":2,"score":0.43342846632003784},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4167676866054535},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.41401106119155884},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.375802218914032},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34358280897140503},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13115766644477844},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.07932737469673157},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341776","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[{"id":"https://openalex.org/G7163253977","display_name":null,"funder_award_id":"SLING 819789","funder_id":"https://openalex.org/F4320338335","funder_display_name":"H2020 European Research Council"},{"id":"https://openalex.org/G8338780757","display_name":null,"funder_award_id":"FA9550-18-1-7009,FA9550-17-1-0390,BAA-AFRL-AFOSR-2016-0007","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"},{"id":"https://openalex.org/F4320338335","display_name":"H2020 European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W569478347","https://openalex.org/W1963573260","https://openalex.org/W2001737341","https://openalex.org/W2158782408","https://openalex.org/W2161222115","https://openalex.org/W2213758982","https://openalex.org/W2529170537","https://openalex.org/W2600030077","https://openalex.org/W2736601468","https://openalex.org/W2736737714","https://openalex.org/W2741122588","https://openalex.org/W2904246096","https://openalex.org/W2962736495","https://openalex.org/W2962737955","https://openalex.org/W2963099939","https://openalex.org/W2963188159","https://openalex.org/W2963411833","https://openalex.org/W2973229164","https://openalex.org/W2990747716","https://openalex.org/W3081268564","https://openalex.org/W3092037789","https://openalex.org/W3099926824","https://openalex.org/W3203740651","https://openalex.org/W3211444363","https://openalex.org/W3211941939","https://openalex.org/W3216772467","https://openalex.org/W4205295909","https://openalex.org/W4283777363","https://openalex.org/W4287756699","https://openalex.org/W4288021242","https://openalex.org/W4320477822","https://openalex.org/W4383108784","https://openalex.org/W6631190155","https://openalex.org/W6741002519","https://openalex.org/W6742461812","https://openalex.org/W6757592117","https://openalex.org/W6770341929","https://openalex.org/W6770858630","https://openalex.org/W6779656125","https://openalex.org/W6785756301","https://openalex.org/W6788616948","https://openalex.org/W6789211778","https://openalex.org/W6791353385","https://openalex.org/W6802395018","https://openalex.org/W6803178138","https://openalex.org/W6804112224","https://openalex.org/W6804601995","https://openalex.org/W6843220310","https://openalex.org/W6849354660"],"related_works":["https://openalex.org/W2789446524","https://openalex.org/W2963178506","https://openalex.org/W4301244418","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W1984314158","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W2198321481"],"abstract_inverted_index":{"Multi-fingered":[0],"robotic":[1],"hands":[2],"have":[3,63],"potential":[4],"to":[5,8,17,29,44,96,100,147,152,174,190,207,239,244],"enable":[6],"robots":[7],"perform":[9],"sophisticated":[10],"manipulation":[11],"tasks.":[12],"However,":[13,59],"teaching":[14],"a":[15,165,179],"robot":[16],"grasp":[18,166],"objects":[19,212],"with":[20,184,211,237,251,254],"an":[21,25,145,170,255],"anthropomorphic":[22,137],"hand":[23,57,138],"is":[24,73,80,99,109,129,188,248],"arduous":[26],"problem":[27,72],"due":[28],"the":[30,75,78,88,125,136,140,154,157,176,185,194,198,201,214,226,240,246,252],"high":[31],"dimensionality":[32],"of":[33,51,77,91,114,139,156,231],"state":[34],"and":[35,116,192,204,234],"action":[36],"spaces.":[37],"Deep":[38],"Reinforcement":[39],"Learning":[40],"(DRL)":[41],"offers":[42],"techniques":[43,224],"design":[45],"control":[46,180],"policies":[47],"for":[48,66,82,135],"this":[49,98,108],"kind":[50],"problems":[52],"without":[53],"explicit":[54],"environment":[55,79],"or":[56],"modeling.":[58],"state-of-the-art":[60],"model-free":[61],"algorithms":[62],"proven":[64],"inefficient":[65],"learning":[67],"such":[68,83],"policies.":[69],"The":[70,159,242],"main":[71],"that":[74,219],"exploration":[76],"unfeasible":[81],"high-dimensional":[84],"problems,":[85,122],"thus":[86],"hampering":[87],"initial":[89],"phases":[90],"policy":[92,181],"optimization.":[93],"One":[94],"possibility":[95],"address":[97,120],"rely":[101],"on":[102],"off-line":[103],"task":[104,150],"demonstrations,":[105],"but,":[106],"oftentimes,":[107],"too":[110],"demanding":[111],"in":[112,225,229],"terms":[113,230],"time":[115,236],"computational":[117],"resources.":[118],"To":[119],"these":[121],"we":[123],"propose":[124],"A":[126],"Grasp":[127],"Pose":[128],"All":[130],"You":[131],"Need":[132],"(G-PAYN)":[133],"method":[134],"iCub":[141,199],"humanoid.":[142],"We":[143,196],"develop":[144],"approach":[146,210],"automatically":[148],"collect":[149],"demonstrations":[151],"initialize":[153],"training":[155],"policy.":[158],"proposed":[160,186],"grasping":[161],"pipeline":[162],"starts":[163],"from":[164,213],"pose":[167],"generated":[168],"by":[169],"external":[171],"algorithm,":[172],"used":[173,189],"initiate":[175],"movement.":[177],"Then":[178],"(previously":[182],"trained":[183],"G-PAYN)":[187],"reach":[191],"grab":[193],"object.":[195],"deployed":[197],"into":[200],"MuJoCo":[202],"simulator":[203],"use":[205],"it":[206],"test":[208],"our":[209],"YCB-Video":[215],"dataset.":[216],"Results":[217],"show":[218],"G-PAYN":[220],"outperforms":[221],"current":[222],"DRL":[223],"considered":[227],"setting":[228],"success":[232],"rate":[233],"execution":[235],"respect":[238],"baselines.":[241],"code":[243],"reproduce":[245],"experiments":[247],"released":[249],"together":[250],"paper":[253],"open":[256],"source":[257],"license":[258],"<sup":[259,262],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[260,263],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[261,264],"https://github.com/hsp-iit/rl-icub-dexterous-manipulation.":[265]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-02T08:42:23.175194","created_date":"2023-12-14T00:00:00"}