{"id":"https://openalex.org/W4389666941","doi":"https://doi.org/10.1109/iros55552.2023.10341895","title":"Learning to Efficiently Plan Robust Frictional Multi-Object Grasps","display_name":"Learning to Efficiently Plan Robust Frictional Multi-Object Grasps","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666941","doi":"https://doi.org/10.1109/iros55552.2023.10341895"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341895","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/A5057590448","display_name":"Wisdom C. Agboh","orcid":"https://orcid.org/0000-0002-0242-0215"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Wisdom C. Agboh","raw_affiliation_strings":["University of California,Berkeley,USA","University of Leeds, UK","University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of Leeds, UK","institution_ids":["https://openalex.org/I130828816"]},{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113930597","display_name":"Satvik Sharma","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Satvik Sharma","raw_affiliation_strings":["University of California,Berkeley,USA","University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045774926","display_name":"Kishore Srinivas","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kishore Srinivas","raw_affiliation_strings":["University of California,Berkeley,USA","University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083866978","display_name":"Mallika Parulekar","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mallika Parulekar","raw_affiliation_strings":["University of California,Berkeley,USA","University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035819520","display_name":"Gaurav Datta","orcid":"https://orcid.org/0000-0002-2872-5420"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gaurav Datta","raw_affiliation_strings":["University of California,Berkeley,USA","University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101769467","display_name":"Tianshuang Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianshuang Qiu","raw_affiliation_strings":["University of California,Berkeley,USA","University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005587345","display_name":"Jeffrey Ichnowski","orcid":"https://orcid.org/0000-0003-4874-9478"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey Ichnowski","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,USA","Carnegie Mellon University, Pittsburgh, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043873756","display_name":"Eugen Solowjow","orcid":"https://orcid.org/0000-0001-5222-3706"},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]},{"id":"https://openalex.org/I4210137693","display_name":"Siemens (United States)","ror":"https://ror.org/04axb7e79","country_code":"US","type":"company","lineage":["https://openalex.org/I1325886976","https://openalex.org/I4210137693"]},{"id":"https://openalex.org/I4210151799","display_name":"Siemens Healthcare (United States)","ror":"https://ror.org/054962n91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151799"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Eugen Solowjow","raw_affiliation_strings":["Siemens Research Lab,Berkeley,USA","Siemens Research Lab, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Siemens Research Lab,Berkeley,USA","institution_ids":["https://openalex.org/I1325886976","https://openalex.org/I4210151799"]},{"raw_affiliation_string":"Siemens Research Lab, Berkeley, USA","institution_ids":["https://openalex.org/I4210137693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025603635","display_name":"Mehmet R. Do\u011far","orcid":"https://orcid.org/0000-0002-6896-5461"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mehmet Dogar","raw_affiliation_strings":["University of Leeds,UK","University of Leeds, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Leeds,UK","institution_ids":["https://openalex.org/I130828816"]},{"raw_affiliation_string":"University of Leeds, UK","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050342525","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0002-2661-4524"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["University of California,Berkeley,USA","University of California, Berkeley, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California,Berkeley,USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2987,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.88519275,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"10660","last_page":"10667"},"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":0.9950000047683716,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9818999767303467,"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":0.8647103309631348},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.837616503238678},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.6720008850097656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5789817571640015},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5572147965431213},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5176306366920471},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48844900727272034},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4246048927307129},{"id":"https://openalex.org/keywords/rest","display_name":"Rest (music)","score":0.41232216358184814},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2976055145263672},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21042147278785706},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16672849655151367},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0737062394618988},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06463894248008728}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8647103309631348},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.837616503238678},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.6720008850097656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5789817571640015},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5572147965431213},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5176306366920471},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48844900727272034},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4246048927307129},{"id":"https://openalex.org/C77265313","wikidata":"https://www.wikidata.org/wiki/Q879844","display_name":"Rest (music)","level":2,"score":0.41232216358184814},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2976055145263672},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21042147278785706},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16672849655151367},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0737062394618988},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06463894248008728},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","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":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341895","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":[],"awards":[{"id":"https://openalex.org/G2551561059","display_name":null,"funder_award_id":"EP/V052659/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W143499627","https://openalex.org/W1974508427","https://openalex.org/W1981667747","https://openalex.org/W1999899179","https://openalex.org/W2098450989","https://openalex.org/W2101234009","https://openalex.org/W2114112336","https://openalex.org/W2123439682","https://openalex.org/W2123967128","https://openalex.org/W2148648901","https://openalex.org/W2155446294","https://openalex.org/W2414685554","https://openalex.org/W2549018723","https://openalex.org/W2600030077","https://openalex.org/W2751276040","https://openalex.org/W2754340109","https://openalex.org/W2790141348","https://openalex.org/W2883654928","https://openalex.org/W2904207885","https://openalex.org/W2910474428","https://openalex.org/W2914944935","https://openalex.org/W2953669419","https://openalex.org/W2962822210","https://openalex.org/W2964214518","https://openalex.org/W2967171277","https://openalex.org/W2968116426","https://openalex.org/W3003477985","https://openalex.org/W3005992337","https://openalex.org/W3010467267","https://openalex.org/W3130466728","https://openalex.org/W3133866887","https://openalex.org/W3160241070","https://openalex.org/W3162826489","https://openalex.org/W3174167970","https://openalex.org/W3205684050","https://openalex.org/W3214907063","https://openalex.org/W4200176700","https://openalex.org/W4205892839","https://openalex.org/W4229002925","https://openalex.org/W4254769284","https://openalex.org/W4299811837","https://openalex.org/W4312920279","https://openalex.org/W4323527667","https://openalex.org/W4387123622","https://openalex.org/W4387143382","https://openalex.org/W6675354045","https://openalex.org/W6743974245","https://openalex.org/W6746713385","https://openalex.org/W6753427208","https://openalex.org/W6795177087"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2657478029","https://openalex.org/W3146859979","https://openalex.org/W4224220472","https://openalex.org/W2080808138","https://openalex.org/W2626503888","https://openalex.org/W4387962997"],"abstract_inverted_index":{"We":[0,68],"consider":[1],"a":[2,19,28,57,70,86,92,100,120],"decluttering":[3],"problem":[4],"where":[5],"multiple":[6],"rigid":[7],"convex":[8],"polygonal":[9],"objects":[10],"rest":[11],"in":[12,89,95,103,123],"randomly":[13],"placed":[14],"positions":[15],"and":[16,22,34,62,99],"orientations":[17],"on":[18,111],"planar":[20],"surface":[21],"must":[23],"be":[24],"efficiently":[25],"transported":[26],"to":[27,49,76,108,115],"packing":[29],"box":[30],"using":[31,73],"both":[32],"single":[33],"multi-object":[35,41,79,112],"grasps.":[36,80],"Prior":[37],"work":[38,110],"considered":[39],"frictionless":[40],"grasping.":[42,113],"In":[43,81],"this":[44],"paper,":[45],"we":[46,84,118],"introduce":[47],"friction":[48],"increase":[50,64,88,94,122],"the":[51],"number":[52],"of":[53,60],"potential":[54],"grasps":[55],"for":[56],"given":[58],"group":[59],"objects,":[61],"thus":[63],"picks":[65,96,124],"per":[66,97,125],"hour.":[67,126],"train":[69],"neural":[71],"network":[72],"real":[74],"examples":[75],"plan":[77],"robust":[78],"physical":[82],"experiments,":[83],"find":[85,119],"13.7%":[87],"success":[90],"rate,":[91],"1.6x":[93],"hour,":[98],"6.3x":[101],"decrease":[102],"grasp":[104],"planning":[105],"time":[106],"compared":[107],"prior":[109],"Compared":[114],"single-object":[116],"grasping,":[117],"3.1x":[121]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6}],"updated_date":"2026-07-07T14:30:12.667765","created_date":"2025-10-10T00:00:00"}
