{"id":"https://openalex.org/W3119044505","doi":"https://doi.org/10.1109/lra.2021.3060669","title":"Robotic Pick-and-Place With Uncertain Object Instance Segmentation and Shape Completion","display_name":"Robotic Pick-and-Place With Uncertain Object Instance Segmentation and Shape Completion","publication_year":2021,"publication_date":"2021-02-20","ids":{"openalex":"https://openalex.org/W3119044505","doi":"https://doi.org/10.1109/lra.2021.3060669","mag":"3119044505","pmid":"https://pubmed.ncbi.nlm.nih.gov/33834114"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3060669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3060669","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","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2010.07892","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017321004","display_name":"Marcus Gualtieri","orcid":"https://orcid.org/0000-0002-7806-2186"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcus Gualtieri","raw_affiliation_strings":["Khoury College of Computer Sciences, Northeastern University, Boston, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7806-2186","affiliations":[{"raw_affiliation_string":"Khoury College of Computer Sciences, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072578581","display_name":"Robert W. Platt","orcid":"https://orcid.org/0000-0002-5981-8443"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert Platt","raw_affiliation_strings":["Khoury College of Computer Sciences, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Khoury College of Computer Sciences, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I12912129"],"apc_list":null,"apc_paid":null,"fwci":4.0573,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.94115554,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"1753","last_page":"1760"},"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":0.996399998664856,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.7236431241035461},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6753567457199097},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6700310111045837},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6538669466972351},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5800477266311646},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5662265419960022},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5469257831573486},{"id":"https://openalex.org/keywords/bin","display_name":"Bin","score":0.5412764549255371},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.46519649028778076},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4361705183982849},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.42284324765205383},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41103100776672363},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36723506450653076},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1934983730316162},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18097424507141113}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7236431241035461},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6753567457199097},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6700310111045837},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6538669466972351},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5800477266311646},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5662265419960022},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5469257831573486},{"id":"https://openalex.org/C156273044","wikidata":"https://www.wikidata.org/wiki/Q4913766","display_name":"Bin","level":2,"score":0.5412764549255371},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.46519649028778076},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4361705183982849},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.42284324765205383},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41103100776672363},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36723506450653076},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1934983730316162},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18097424507141113},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2021.3060669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3060669","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":"pmid:33834114","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33834114","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE robotics and automation letters","raw_type":null},{"id":"pmh:oai:arXiv.org:2010.07892","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.07892","pdf_url":"https://arxiv.org/pdf/2010.07892","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"},{"id":"pmh:oai:pubmedcentral.nih.gov:8022832","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8022832","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robot Autom Lett","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2010.07892","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.07892","pdf_url":"https://arxiv.org/pdf/2010.07892","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","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5608864454","display_name":null,"funder_award_id":"80NSSC19K1474","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W77797718","https://openalex.org/W1558116630","https://openalex.org/W1559022906","https://openalex.org/W1564897360","https://openalex.org/W1651456183","https://openalex.org/W1706124764","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W2016211524","https://openalex.org/W2021683594","https://openalex.org/W2038245875","https://openalex.org/W2070683816","https://openalex.org/W2103524001","https://openalex.org/W2105175235","https://openalex.org/W2107153006","https://openalex.org/W2131337842","https://openalex.org/W2168359464","https://openalex.org/W2171084228","https://openalex.org/W2293698677","https://openalex.org/W2293883387","https://openalex.org/W2296319761","https://openalex.org/W2560609797","https://openalex.org/W2789839425","https://openalex.org/W2883499711","https://openalex.org/W2886499109","https://openalex.org/W2889969363","https://openalex.org/W2893763910","https://openalex.org/W2925241625","https://openalex.org/W2938269852","https://openalex.org/W2948410735","https://openalex.org/W2963166883","https://openalex.org/W2963654160","https://openalex.org/W2964130816","https://openalex.org/W2967068439","https://openalex.org/W2967349569","https://openalex.org/W2967842325","https://openalex.org/W2971230666","https://openalex.org/W2972998376","https://openalex.org/W2995046958","https://openalex.org/W3004167188","https://openalex.org/W3038163993","https://openalex.org/W3098143573","https://openalex.org/W3105259478","https://openalex.org/W3217246742","https://openalex.org/W4250589301","https://openalex.org/W4288106818","https://openalex.org/W4288414710","https://openalex.org/W4289489637","https://openalex.org/W4295109175","https://openalex.org/W6603146607","https://openalex.org/W6633530127","https://openalex.org/W6684973485","https://openalex.org/W6752007561","https://openalex.org/W6754677871","https://openalex.org/W6763229141","https://openalex.org/W6763422710","https://openalex.org/W6767276508","https://openalex.org/W6903373631"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2107701374","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/W1616588898","https://openalex.org/W2019547100"],"abstract_inverted_index":{"We":[0,76,90],"consider":[1],"robotic":[2],"pick-and-place":[3],"of":[4,96,105],"partially":[5],"visible,":[6],"novel":[7],"objects,":[8],"where":[9],"goal":[10],"placements":[11],"are":[12,73],"non-trivial,":[13],"e.g.,":[14],"tightly":[15,133],"packed":[16],"into":[17,84,134],"a":[18,38,122,135],"bin.":[19],"One":[20,95],"approach":[21],"is":[22,54],"(a)":[23],"use":[24,37],"object":[25,68],"instance":[26],"segmentation":[27],"and":[28,35,44,107,114],"shape":[29],"completion":[30],"to":[31,41,49,59,102],"model":[32],"the":[33,47,57,64,85,125,141],"objects":[34,132],"(b)":[36],"regrasp":[39,86],"planner":[40,58],"decide":[42],"grasps":[43],"places":[45],"displacing":[46],"models":[48],"their":[50],"goals.":[51],"However,":[52],"it":[53,83],"critical":[55],"for":[56,61,78],"account":[60,77],"uncertainty":[62,80],"in":[63,70,129],"perceived":[65],"models,":[66],"as":[67],"geometries":[69],"unobserved":[71],"areas":[72],"just":[74],"guesses.":[75],"perceptual":[79],"by":[81],"incorporating":[82],"planner's":[87],"cost":[88,127],"function.":[89],"compare":[91],"seven":[92],"different":[93],"costs.":[94],"these,":[97],"which":[98],"uses":[99],"neural":[100],"networks":[101],"estimate":[103],"probability":[104],"grasp":[106],"place":[108],"stability,":[109],"consistently":[110],"outperforms":[111],"uncertainty-unaware":[112],"costs":[113],"evaluates":[115],"faster":[116],"than":[117],"Monte":[118],"Carlo":[119],"sampling.":[120],"On":[121],"real":[123],"robot,":[124],"proposed":[126],"results":[128],"successfully":[130],"packing":[131],"bin":[136],"7.8%":[137],"more":[138],"often":[139],"versus":[140],"commonly":[142],"used":[143],"minimum-number-of-grasps":[144],"cost.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}
