{"id":"https://openalex.org/W2999169383","doi":"https://doi.org/10.1109/lra.2020.2964160","title":"Benchmarking In-Hand Manipulation","display_name":"Benchmarking In-Hand Manipulation","publication_year":2020,"publication_date":"2020-01-07","ids":{"openalex":"https://openalex.org/W2999169383","doi":"https://doi.org/10.1109/lra.2020.2964160","mag":"2999169383"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2964160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2964160","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2001.03070","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035449602","display_name":"Silvia Cruciani","orcid":"https://orcid.org/0000-0002-9171-8768"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Silvia Cruciani","raw_affiliation_strings":["Division of Robotics, Perception & Learning, EECS, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-9171-8768","affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception & Learning, EECS, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053446613","display_name":"Balakumar Sundaralingam","orcid":"https://orcid.org/0000-0003-3106-4755"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Balakumar Sundaralingam","raw_affiliation_strings":["Robotics Center & School of Computing, University of Utah, Salt Lake City, USA"],"raw_orcid":"https://orcid.org/0000-0003-3106-4755","affiliations":[{"raw_affiliation_string":"Robotics Center & School of Computing, University of Utah, Salt Lake City, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011451275","display_name":"Kaiyu Hang","orcid":"https://orcid.org/0000-0003-4132-1217"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaiyu Hang","raw_affiliation_strings":["Dept. of Mechanical Engineering & Material Science, Yale University, New Haven, USA"],"raw_orcid":"https://orcid.org/0000-0003-4132-1217","affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering & Material Science, Yale University, New Haven, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100383672","display_name":"Vikash Kumar","orcid":"https://orcid.org/0000-0002-3168-7955"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vikash Kumar","raw_affiliation_strings":["Google AI, SanFrancisco, United States of America"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google AI, SanFrancisco, United States of America","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000432183","display_name":"Tucker Hermans","orcid":"https://orcid.org/0000-0003-2496-2768"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]},{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tucker Hermans","raw_affiliation_strings":["NVIDIA Research, Santa Clara, United States","Robotics Center & School of Computing, University of Utah, Salt Lake City, USA"],"raw_orcid":"https://orcid.org/0000-0003-2496-2768","affiliations":[{"raw_affiliation_string":"NVIDIA Research, Santa Clara, United States","institution_ids":["https://openalex.org/I4210127875"]},{"raw_affiliation_string":"Robotics Center & School of Computing, University of Utah, Salt Lake City, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023792180","display_name":"Danica Kragi\u0107","orcid":"https://orcid.org/0000-0003-2965-2953"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Danica Kragic","raw_affiliation_strings":["Division of Robotics, Perception & Learning, EECS, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-2965-2953","affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception & Learning, EECS, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2992,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.92189854,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"5","issue":"2","first_page":"588","last_page":"595"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9860000014305115,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/benchmarking","display_name":"Benchmarking","score":0.9550526738166809},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.8513725996017456},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7407148480415344},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6919569373130798},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.6048150062561035},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5895956754684448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5456184148788452},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5291752219200134},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.49787378311157227},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47208544611930847},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4267506003379822},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41987743973731995},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.36176761984825134},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.19649925827980042},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.18042206764221191},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14657434821128845},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1062917709350586}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.9550526738166809},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.8513725996017456},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7407148480415344},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6919569373130798},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.6048150062561035},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5895956754684448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5456184148788452},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5291752219200134},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.49787378311157227},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47208544611930847},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4267506003379822},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41987743973731995},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36176761984825134},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.19649925827980042},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.18042206764221191},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14657434821128845},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1062917709350586},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.2964160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2964160","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2001.03070","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.03070","pdf_url":"https://arxiv.org/pdf/2001.03070","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:2001.03070","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.03070","pdf_url":"https://arxiv.org/pdf/2001.03070","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":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W1994349244","https://openalex.org/W1999250663","https://openalex.org/W2013467411","https://openalex.org/W2016959837","https://openalex.org/W2021065900","https://openalex.org/W2025937932","https://openalex.org/W2042408133","https://openalex.org/W2065900938","https://openalex.org/W2077358689","https://openalex.org/W2086519765","https://openalex.org/W2101915367","https://openalex.org/W2106281046","https://openalex.org/W2112742338","https://openalex.org/W2117495699","https://openalex.org/W2123062563","https://openalex.org/W2129629060","https://openalex.org/W2171917416","https://openalex.org/W2210408922","https://openalex.org/W2236954786","https://openalex.org/W2343757578","https://openalex.org/W2408464251","https://openalex.org/W2416041116","https://openalex.org/W2485899942","https://openalex.org/W2526622367","https://openalex.org/W2564447680","https://openalex.org/W2591697182","https://openalex.org/W2609356747","https://openalex.org/W2612144999","https://openalex.org/W2734472784","https://openalex.org/W2737912442","https://openalex.org/W2748912114","https://openalex.org/W2765816034","https://openalex.org/W2775488915","https://openalex.org/W2775821103","https://openalex.org/W2801913747","https://openalex.org/W2805556115","https://openalex.org/W2807638951","https://openalex.org/W2884426590","https://openalex.org/W2885163910","https://openalex.org/W2889882177","https://openalex.org/W2891614462","https://openalex.org/W2892294503","https://openalex.org/W2899685447","https://openalex.org/W2910820787","https://openalex.org/W2952395382","https://openalex.org/W2963199973","https://openalex.org/W2963348180","https://openalex.org/W2963406959","https://openalex.org/W2963411833","https://openalex.org/W2963677339","https://openalex.org/W2964208980","https://openalex.org/W2990747716","https://openalex.org/W3000872671","https://openalex.org/W3099587965","https://openalex.org/W4230987057","https://openalex.org/W4247031047","https://openalex.org/W4293469469","https://openalex.org/W4385490503","https://openalex.org/W6669890541","https://openalex.org/W6734065107","https://openalex.org/W6773520674"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699","https://openalex.org/W1993948687","https://openalex.org/W2000169967","https://openalex.org/W2112883198"],"abstract_inverted_index":{"The":[0,18],"purpose":[1],"of":[2,13,30,43,57,103],"this":[3],"benchmark":[4],"is":[5,20],"to":[6,21,26],"evaluate":[7],"the":[8,23,28,37,51,80,84,104,120],"planning":[9],"and":[10,59,66,115],"control":[11],"aspects":[12],"robotic":[14],"in-hand":[15,71,106],"manipulation":[16,72,107],"systems.":[17],"goal":[19,60,85],"assess":[22],"system's":[24,105],"ability":[25],"change":[27],"pose":[29],"a":[31,41,88,101],"hand-held":[32],"object":[33,47,64],"by":[34],"either":[35],"using":[36],"fingers,":[38],"environment":[39],"or":[40],"combination":[42],"both.":[44],"Given":[45],"an":[46],"surface":[48],"mesh":[49],"from":[50,87],"YCB":[52],"data-set,":[53],"we":[54],"provide":[55,110],"examples":[56],"initial":[58,90],"states":[61],"(i.e.":[62],"static":[63],"poses":[65],"fingertip":[67],"locations)":[68],"for":[69],"various":[70],"tasks.":[73],"We":[74,109],"further":[75],"propose":[76],"metrics":[77],"that":[78],"measure":[79,102],"error":[81],"in":[82],"reaching":[83],"state":[86],"specific":[89],"state,":[91],"which,":[92],"when":[93],"aggregated":[94],"across":[95],"all":[96],"tasks,":[97],"also":[98],"serves":[99],"as":[100],"capability.":[108],"supporting":[111],"software,":[112],"task":[113],"examples,":[114],"evaluation":[116],"results":[117],"associated":[118],"with":[119],"benchmark.":[121]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":3}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
