{"id":"https://openalex.org/W2982192168","doi":"https://doi.org/10.1109/lra.2020.2975706","title":"Learning Task-Oriented Grasping From Human Activity Datasets","display_name":"Learning Task-Oriented Grasping From Human Activity Datasets","publication_year":2020,"publication_date":"2020-02-21","ids":{"openalex":"https://openalex.org/W2982192168","doi":"https://doi.org/10.1109/lra.2020.2975706","mag":"2982192168"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2975706","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2975706","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.11669","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006344138","display_name":"Mia Koki\u0107","orcid":"https://orcid.org/0000-0002-2358-821X"},"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":true,"raw_author_name":"Mia Kokic","raw_affiliation_strings":["RPL, EECS, KTH, Stockholm, Sweden","Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"RPL, EECS, KTH, Stockholm, Sweden","institution_ids":[]},{"raw_affiliation_string":"Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","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":["RPL, EECS, KTH, Stockholm, Sweden","Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"RPL, EECS, KTH, Stockholm, Sweden","institution_ids":[]},{"raw_affiliation_string":"Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021676288","display_name":"Jeannette Bohg","orcid":"https://orcid.org/0000-0002-4921-7193"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeannette Bohg","raw_affiliation_strings":["Computer Science Department, Stanford University, Stanford, USA","Stanford University ()"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006344138"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.1488,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.41397956,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"5","issue":"2","first_page":"3352","last_page":"3359"},"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9973999857902527,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.796029806137085},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7832729816436768},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7264128923416138},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7196274995803833},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6342296600341797},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6215406656265259},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6201620697975159},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5717021226882935},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5687767267227173},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.537301242351532},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.46396103501319885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09155812859535217}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.796029806137085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7832729816436768},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7264128923416138},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7196274995803833},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6342296600341797},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6215406656265259},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6201620697975159},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5717021226882935},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5687767267227173},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.537301242351532},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.46396103501319885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09155812859535217},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2020.2975706","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2975706","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:1910.11669","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.11669","pdf_url":"https://arxiv.org/pdf/1910.11669","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":"","raw_type":"text"},{"id":"mag:2982192168","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1910.11669","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1910.11669","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.11669","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.11669","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.11669","pdf_url":"https://arxiv.org/pdf/1910.11669","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":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8683756101","display_name":null,"funder_award_id":"support","funder_id":"https://openalex.org/F4320322327","funder_display_name":"Knut och Alice Wallenbergs Stiftelse"}],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null},{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2982192168.pdf","grobid_xml":"https://content.openalex.org/works/W2982192168.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1947050545","https://openalex.org/W1968783203","https://openalex.org/W2036637075","https://openalex.org/W2063533050","https://openalex.org/W2084749141","https://openalex.org/W2106215490","https://openalex.org/W2119344328","https://openalex.org/W2138621090","https://openalex.org/W2165272793","https://openalex.org/W2219155316","https://openalex.org/W2524140598","https://openalex.org/W2605973302","https://openalex.org/W2606627193","https://openalex.org/W2777195424","https://openalex.org/W2783693550","https://openalex.org/W2895299763","https://openalex.org/W2895439318","https://openalex.org/W2897765997","https://openalex.org/W2922285747","https://openalex.org/W2962811204","https://openalex.org/W2963150697","https://openalex.org/W2963188159","https://openalex.org/W2963601560","https://openalex.org/W2963787550","https://openalex.org/W2963903764","https://openalex.org/W2964093990","https://openalex.org/W2968722025","https://openalex.org/W2970710335","https://openalex.org/W3003524465","https://openalex.org/W3112422759","https://openalex.org/W6736832757","https://openalex.org/W6745401828","https://openalex.org/W6746402127","https://openalex.org/W6755629201"],"related_works":["https://openalex.org/W3008770127","https://openalex.org/W2922285747","https://openalex.org/W2902263696","https://openalex.org/W3163068632","https://openalex.org/W3090445473","https://openalex.org/W2955791868","https://openalex.org/W3207966761","https://openalex.org/W2891001608","https://openalex.org/W2898125812","https://openalex.org/W2781143029","https://openalex.org/W3206560021","https://openalex.org/W3203327876","https://openalex.org/W2909314588","https://openalex.org/W3207749834","https://openalex.org/W3001293761","https://openalex.org/W3003641150","https://openalex.org/W2967681060","https://openalex.org/W2758237641","https://openalex.org/W3160396451","https://openalex.org/W3130138602"],"abstract_inverted_index":{"We":[0,17,44],"propose":[1],"to":[2,10,58,75,80,156],"leverage":[3],"a":[4,12,19,30,42,82,96,131,146,154],"real-world,":[5],"human":[6],"activity":[7],"RGB":[8,26,73],"dataset":[9,74,133],"teach":[11],"robot":[13,147,155],"Task-Oriented":[14],"Grasping":[15],"(TOG).":[16],"develop":[18],"model":[20,86],"that":[21,48,106,149],"takes":[22,87],"as":[23,35,37,88],"input":[24,89],"an":[25,38,72,90,108],"image":[27],"and":[28,33,41,52,94,137],"outputs":[29,95],"hand":[31,51,114],"pose":[32,40,110,115],"configuration":[34],"well":[36],"object":[39,53,91,109],"shape.":[43],"follow":[45],"the":[46,67,78,113,135],"insight":[47],"jointly":[49],"estimating":[50,59],"poses":[54],"increases":[55],"accuracy":[56],"compared":[57],"these":[60],"quantities":[61],"independently":[62],"of":[63,139],"each":[64],"other.":[65],"Given":[66],"trained":[68],"model,":[69],"we":[70],"process":[71],"automatically":[76],"obtain":[77],"data":[79],"train":[81],"TOG":[83,158],"model.":[84],"This":[85],"point":[92],"cloud":[93],"suitable":[97],"region":[98],"for":[99],"task-specific":[100],"grasping.":[101],"Our":[102],"ablation":[103],"study":[104],"shows":[105],"training":[107,123],"predictor":[111],"with":[112,145],"information":[116],"(and":[117],"vice":[118],"versa)":[119],"is":[120],"better":[121],"than":[122],"without":[124],"this":[125],"information.":[126],"Furthermore,":[127],"our":[128,140,150],"results":[129],"on":[130,159],"real-world":[132],"show":[134],"applicability":[136],"competitiveness":[138],"method":[141,151],"over":[142],"state-of-the-art.":[143],"Experiments":[144],"demonstrate":[148],"can":[152],"allow":[153],"preform":[157],"novel":[160],"objects.":[161]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}