{"id":"https://openalex.org/W4389666125","doi":"https://doi.org/10.1109/iros55552.2023.10342318","title":"Task-Oriented Grasping with Point Cloud Representation of Objects","display_name":"Task-Oriented Grasping with Point Cloud Representation of Objects","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666125","doi":"https://doi.org/10.1109/iros55552.2023.10342318"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342318","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/A5009815152","display_name":"Aditya Patankar","orcid":null},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Aditya Patankar","raw_affiliation_strings":["Stony Brook University,Department of Mechanical Engineering,USA","Department of Mechanical Engineering, Stony Brook University, USA"],"affiliations":[{"raw_affiliation_string":"Stony Brook University,Department of Mechanical Engineering,USA","institution_ids":["https://openalex.org/I59553526"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stony Brook University, USA","institution_ids":["https://openalex.org/I59553526"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009206174","display_name":"Khiem Phi","orcid":null},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Khiem Phi","raw_affiliation_strings":["Stony Brook University,Department of Computer Science,USA","Department of Computer Science, Stony Brook University, USA"],"affiliations":[{"raw_affiliation_string":"Stony Brook University,Department of Computer Science,USA","institution_ids":["https://openalex.org/I59553526"]},{"raw_affiliation_string":"Department of Computer Science, Stony Brook University, USA","institution_ids":["https://openalex.org/I59553526"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047087470","display_name":"Dasharadhan Mahalingam","orcid":"https://orcid.org/0000-0001-6709-9576"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dasharadhan Mahalingam","raw_affiliation_strings":["Stony Brook University,Department of Mechanical Engineering,USA","Department of Mechanical Engineering, Stony Brook University, USA"],"affiliations":[{"raw_affiliation_string":"Stony Brook University,Department of Mechanical Engineering,USA","institution_ids":["https://openalex.org/I59553526"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stony Brook University, USA","institution_ids":["https://openalex.org/I59553526"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011964617","display_name":"Nilanjan Chakraborty","orcid":"https://orcid.org/0000-0003-1690-2036"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nilanjan Chakraborty","raw_affiliation_strings":["Stony Brook University,Department of Mechanical Engineering,USA","Department of Mechanical Engineering, Stony Brook University, USA"],"affiliations":[{"raw_affiliation_string":"Stony Brook University,Department of Mechanical Engineering,USA","institution_ids":["https://openalex.org/I59553526"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Stony Brook University, USA","institution_ids":["https://openalex.org/I59553526"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005648942","display_name":"I. V. Ramakrishnan","orcid":"https://orcid.org/0000-0002-1768-7043"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"IV Ramakrishnan","raw_affiliation_strings":["Stony Brook University,Department of Computer Science,USA","Department of Computer Science, Stony Brook University, USA"],"affiliations":[{"raw_affiliation_string":"Stony Brook University,Department of Computer Science,USA","institution_ids":["https://openalex.org/I59553526"]},{"raw_affiliation_string":"Department of Computer Science, Stony Brook University, USA","institution_ids":["https://openalex.org/I59553526"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5009815152"],"corresponding_institution_ids":["https://openalex.org/I59553526"],"apc_list":null,"apc_paid":null,"fwci":0.938,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.75898416,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6853","last_page":"6860"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9979000091552734,"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":0.9898999929428101,"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/grasp","display_name":"GRASP","score":0.9285745620727539},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7418935894966125},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7183960676193237},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5920858383178711},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5841314792633057},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.577483057975769},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5343999266624451},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5313278436660767},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.5123440027236938},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5055735111236572},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.45278096199035645},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4305162727832794},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14692085981369019},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12266549468040466},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.08955499529838562},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07425543665885925}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9285745620727539},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7418935894966125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7183960676193237},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5920858383178711},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5841314792633057},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.577483057975769},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5343999266624451},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5313278436660767},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.5123440027236938},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5055735111236572},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.45278096199035645},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4305162727832794},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14692085981369019},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12266549468040466},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.08955499529838562},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07425543665885925},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342318","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1794703952","https://openalex.org/W2111651672","https://openalex.org/W2120471834","https://openalex.org/W2136364779","https://openalex.org/W2178935672","https://openalex.org/W2194775991","https://openalex.org/W2410441310","https://openalex.org/W2600030077","https://openalex.org/W2630837129","https://openalex.org/W2772168088","https://openalex.org/W2783693550","https://openalex.org/W2962737955","https://openalex.org/W2962984928","https://openalex.org/W2970710335","https://openalex.org/W2986303149","https://openalex.org/W3008770127","https://openalex.org/W3037767967","https://openalex.org/W3090822776","https://openalex.org/W3108011062","https://openalex.org/W3110732354","https://openalex.org/W3129923513","https://openalex.org/W3133064552","https://openalex.org/W3136875090","https://openalex.org/W3157943511","https://openalex.org/W3175450634","https://openalex.org/W3201312429","https://openalex.org/W3205684050","https://openalex.org/W3213354518","https://openalex.org/W3217655018","https://openalex.org/W4285505176","https://openalex.org/W4380450805","https://openalex.org/W4383109073","https://openalex.org/W6638667902","https://openalex.org/W6739696289","https://openalex.org/W6780226713","https://openalex.org/W6786287230","https://openalex.org/W6792348280"],"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/W4390800284"],"abstract_inverted_index":{"In":[0,21],"this":[1,85],"paper,":[2],"we":[3,100,143],"study":[4],"the":[5,33,53,57,80,111,129,137,151,164,204],"problem":[6],"of":[7,59,72,87,133,206],"task-oriented":[8,22],"grasp":[9,23,26,92,112,138,162],"synthesis":[10],"from":[11,128],"partial":[12,130],"point":[13,131],"cloud":[14,132],"data":[15,175],"using":[16,123],"an":[17,134,160],"eye-in-hand":[18],"camera":[19],"configuration.":[20],"synthesis,":[24],"a":[25,60,65,70,90,102,107,116,124,146],"has":[27],"to":[28,51,76,79,105,158,184],"be":[29,49,77,156],"selected":[30],"so":[31],"that":[32,45,121,154,202],"object":[34,81],"is":[35,42],"not":[36,170],"lost":[37],"during":[38],"manipulation,":[39],"and":[40,89,136,186],"it":[41,181],"also":[43],"ensured":[44],"adequate":[46],"force/moment":[47],"can":[48,144,155],"applied":[50,78],"perform":[52],"task.":[54],"We":[55,119,194],"formalize":[56],"notion":[58,86],"gross":[61],"manipulation":[62],"task":[63],"as":[64,197,199],"constant":[66,73],"screw":[67,74,189],"motion":[68,192],"(or":[69],"sequence":[71],"motions)":[75],"after":[82],"grasping.":[83],"Using":[84],"task,":[88],"corresponding":[91],"quality":[93,113,139],"metric":[94,114,140],"developed":[95],"in":[96],"our":[97,207],"prior":[98],"work,":[99],"use":[101,171],"neural":[103],"network":[104],"approximate":[106],"function":[108],"for":[109],"predicting":[110],"on":[115,150,163],"cuboid":[117],"shape.":[118],"show":[120,203],"by":[122],"bounding":[125,152],"box":[126,153],"obtained":[127],"object,":[135],"mentioned":[141],"above,":[142],"generate":[145],"good":[147],"grasping":[148,177],"region":[149],"used":[157],"compute":[159],"antipodal":[161],"actual":[165],"object.":[166],"Our":[167],"algorithm":[168],"does":[169],"any":[172],"manually":[173],"labeled":[174],"or":[176],"simulator,":[178],"thus":[179],"making":[180],"very":[182],"efficient":[183],"implement":[185],"integrate":[187],"with":[188],"linear":[190],"interpolation-based":[191],"planners.":[193],"present":[195],"simulation":[196],"well":[198],"experimental":[200],"results":[201],"effectiveness":[205],"approach.":[208],"Website:":[209],"https://irsl-sbu.github.io/Task-Oriented-Grasping-from-Point-Cloud-Representation/.":[210]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
