{"id":"https://openalex.org/W3003410126","doi":"https://doi.org/10.1109/lra.2020.2969932","title":"Rigid-Soft Interactive Learning for Robust Grasping","display_name":"Rigid-Soft Interactive Learning for Robust Grasping","publication_year":2020,"publication_date":"2020-01-28","ids":{"openalex":"https://openalex.org/W3003410126","doi":"https://doi.org/10.1109/lra.2020.2969932","mag":"3003410126"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2969932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969932","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/2003.01584","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065911345","display_name":"Linhan Yang","orcid":"https://orcid.org/0000-0001-7393-0741"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Linhan Yang","raw_affiliation_strings":["Southern University of Science and Technology, Shenzhen, China","University of Hong Kong, Pokfulam, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"University of Hong Kong, Pokfulam, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025126700","display_name":"Fang Wan","orcid":"https://orcid.org/0000-0002-8658-1197"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Wan","raw_affiliation_strings":["AncoraSpring, Inc. and the SUSTech Institute of Robotics, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AncoraSpring, Inc. and the SUSTech Institute of Robotics, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065636089","display_name":"Haokun Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haokun Wang","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101825363","display_name":"Xiaobo Liu","orcid":"https://orcid.org/0000-0001-5175-2411"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaobo Liu","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-5175-2411","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100393781","display_name":"Yujia Liu","orcid":"https://orcid.org/0000-0002-6983-5714"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujia Liu","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076812698","display_name":"Jia Pan","orcid":"https://orcid.org/0000-0001-9003-2054"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jia Pan","raw_affiliation_strings":["Department of Computer Science, University of Hong Kong, Pokfulam, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-9003-2054","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Hong Kong, Pokfulam, Hong Kong","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028976561","display_name":"Chaoyang Song","orcid":"https://orcid.org/0000-0002-0166-8112"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyang Song","raw_affiliation_strings":["Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-0166-8112","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.383,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.88338579,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"5","issue":"2","first_page":"1720","last_page":"1727"},"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":0.9944999814033508,"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":0.9872999787330627,"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/computer-science","display_name":"Computer science","score":0.5678635835647583},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.45599645376205444},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42653992772102356},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3221760392189026}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5678635835647583},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45599645376205444},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42653992772102356},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3221760392189026}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.2969932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2969932","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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:2003.01584","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.01584","pdf_url":"https://arxiv.org/pdf/2003.01584","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:2003.01584","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.01584","pdf_url":"https://arxiv.org/pdf/2003.01584","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":[],"awards":[{"id":"https://openalex.org/G7937391057","display_name":null,"funder_award_id":"51905252","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1892339738","https://openalex.org/W1999156278","https://openalex.org/W2036637075","https://openalex.org/W2201912979","https://openalex.org/W2414685554","https://openalex.org/W2529170537","https://openalex.org/W2529658650","https://openalex.org/W2589847876","https://openalex.org/W2600030077","https://openalex.org/W2784142237","https://openalex.org/W2784648116","https://openalex.org/W2824754393","https://openalex.org/W2910474428","https://openalex.org/W2913739612","https://openalex.org/W2914944935","https://openalex.org/W2924955700","https://openalex.org/W2946222143","https://openalex.org/W2953249127","https://openalex.org/W2962736495","https://openalex.org/W2963484919","https://openalex.org/W2963826370","https://openalex.org/W2964137828","https://openalex.org/W2968585391","https://openalex.org/W3099587965","https://openalex.org/W3112422759"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Robot":[0],"learning":[1,85,195],"is":[2],"widely":[3,22],"accepted":[4],"by":[5,21,127,197],"academia":[6],"and":[7,63,76,103,166,214,233],"industry":[8],"with":[9,138,225,236],"its":[10],"potentials":[11],"to":[12,57,98,132,229,240],"transform":[13],"autonomous":[14],"robot":[15],"control":[16],"through":[17],"machine":[18],"learning.":[19],"Inspired":[20],"used":[23],"soft":[24,134],"fingers":[25,131],"on":[26,180,193],"grasping,":[27],"we":[28,47,122],"propose":[29],"a":[30,149,222,226,237],"method":[31,196],"of":[32,41,95,116,153,174,189],"rigid-soft":[33,125],"interactive":[34],"learning,":[35],"aiming":[36],"at":[37,208],"reducing":[38],"the":[39,49,58,71,84,100,107,114,129,133,144,172,181,187,190,194,199,204,242],"time":[40],"data":[42,151,232],"collection.":[43],"In":[44],"this":[45],"letter,":[46],"classify":[48],"interaction":[50,59,72,118,126],"categories":[51],"into":[52],"Rigid-Rigid,":[53],"Rigid-Soft,":[54],"SoftRigid":[55],"according":[56],"surface":[60],"between":[61,74],"grippers":[62,75],"target":[64,77],"objects.":[65,147],"We":[66,87,184,202],"find":[67],"experimental":[68],"evidence":[69],"that":[70,163],"types":[73],"objects":[78,213,219],"play":[79],"an":[80],"essential":[81],"role":[82],"in":[83,112,119,158],"methods.":[86],"use":[88],"soft,":[89],"stuffed":[90,108],"toys":[91,109],"for":[92,210,216],"training,":[93],"instead":[94],"everyday":[96],"objects,":[97],"reduce":[99],"integration":[101],"complexity":[102],"computational":[104],"burden.":[105],"Although":[106],"are":[110,169],"limited":[111],"reflecting":[113],"physics":[115],"finger-object":[117],"real-life":[120],"scenarios,":[121],"exploit":[123],"such":[124,142,164,175],"changing":[128,198],"gripper":[130,200,228,239],"ones":[135],"when":[136],"dealing":[137],"rigid,":[139],"daily-life":[140],"items":[141],"as":[143],"Yale-CMU-Berkeley":[145],"(YCB)":[146],"With":[148],"small":[150],"collection":[152],"5":[154],"K":[155],"picking":[156],"attempts":[157],"total,":[159],"our":[160],"results":[161],"suggest":[162],"Rigid-Soft":[165],"Soft-Rigid":[167],"interactions":[168,176],"transferable.":[170],"Moreover,":[171],"combination":[173],"shows":[177],"better":[178],"performance":[179,207],"grasping":[182,206],"test.":[183],"also":[185],"explore":[186],"effect":[188],"grasp":[191,224,235,243],"type":[192],"configurations.":[201],"achieve":[203],"best":[205],"97.5%":[209],"easy":[211],"YCB":[212,218],"81.3%":[215],"difficult":[217],"while":[220],"using":[221],"precise":[223],"two-soft-finger":[227],"collect":[230],"training":[231],"power":[234],"four-soft-finger":[238],"test":[241],"policy.":[244]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}