{"id":"https://openalex.org/W4210633449","doi":"https://doi.org/10.1109/lra.2022.3146551","title":"Deformation-Aware Data-Driven Grasp Synthesis","display_name":"Deformation-Aware Data-Driven Grasp Synthesis","publication_year":2022,"publication_date":"2022-02-16","ids":{"openalex":"https://openalex.org/W4210633449","doi":"https://doi.org/10.1109/lra.2022.3146551"},"language":"en","primary_location":{"id":"pmh:oai:aaltodoc.aalto.fi:123456789/113029","is_oa":true,"landing_page_url":"https://research.aalto.fi/en/publications/66d86fc7-429b-4194-9d03-16949e7ee7fa","pdf_url":"https://research.aalto.fi/files/79390881/ELEC_Le_etal_Deformation_Aware_Data_Driven_Grasp_Synthesis_IEEE_LRA.pdf","source":{"id":"https://openalex.org/S4306401662","display_name":"Aaltodoc (Aalto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9927081","host_organization_name":"Aalto University","host_organization_lineage":["https://openalex.org/I9927081"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"publishedVersion"},"type":"article","indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://research.aalto.fi/files/79390881/ELEC_Le_etal_Deformation_Aware_Data_Driven_Grasp_Synthesis_IEEE_LRA.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012192290","display_name":"Tran Nguyen Le","orcid":"https://orcid.org/0000-0003-1139-1943"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Nguyen Le, Tran","raw_affiliation_strings":["Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Espoo, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Espoo, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064860545","display_name":"Jens Lundell","orcid":"https://orcid.org/0000-0003-2296-6685"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Lundell, Jens","raw_affiliation_strings":["Department of Electrical Engineering and Automation","Intelligent Robotics","Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Espoo, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Automation","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Espoo, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017337432","display_name":"Fares J. Abu\u2010Dakka","orcid":"https://orcid.org/0000-0001-9062-9416"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Abu-Dakka, Fares","raw_affiliation_strings":["Department of Electrical Engineering and Automation","Intelligent Robotics","Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Espoo, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Automation","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Espoo, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080940147","display_name":"Ville Kyrki","orcid":"https://orcid.org/0000-0002-5230-5549"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Kyrki, Ville","raw_affiliation_strings":["Department of Electrical Engineering and Automation","Intelligent Robotics","Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Espoo, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Automation","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics Group at the Department of Electrical Engineering and Automation, School of Electrical Engineering, Aalto University, Espoo, Finland","institution_ids":["https://openalex.org/I9927081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012192290"],"corresponding_institution_ids":["https://openalex.org/I9927081"],"apc_list":null,"apc_paid":null,"fwci":1.9441,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.85027425,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9962999820709229,"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"}},{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.9505747556686401},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.8174207806587219},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6975710988044739},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6411711573600769},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5573533773422241},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5341433882713318},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5052152276039124},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4961110055446625},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4821467101573944},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4746813476085663},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.4247859716415405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17285552620887756},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.155324786901474},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.09341251850128174},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.07300785183906555}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9505747556686401},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8174207806587219},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6975710988044739},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6411711573600769},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5573533773422241},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5341433882713318},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5052152276039124},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4961110055446625},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4821467101573944},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4746813476085663},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.4247859716415405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17285552620887756},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.155324786901474},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.09341251850128174},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.07300785183906555},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"pmh:oai:aaltodoc.aalto.fi:123456789/113029","is_oa":true,"landing_page_url":"https://research.aalto.fi/en/publications/66d86fc7-429b-4194-9d03-16949e7ee7fa","pdf_url":"https://research.aalto.fi/files/79390881/ELEC_Le_etal_Deformation_Aware_Data_Driven_Grasp_Synthesis_IEEE_LRA.pdf","source":{"id":"https://openalex.org/S4306401662","display_name":"Aaltodoc (Aalto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9927081","host_organization_name":"Aalto University","host_organization_lineage":["https://openalex.org/I9927081"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"publishedVersion"}],"best_oa_location":{"id":"pmh:oai:aaltodoc.aalto.fi:123456789/113029","is_oa":true,"landing_page_url":"https://research.aalto.fi/en/publications/66d86fc7-429b-4194-9d03-16949e7ee7fa","pdf_url":"https://research.aalto.fi/files/79390881/ELEC_Le_etal_Deformation_Aware_Data_Driven_Grasp_Synthesis_IEEE_LRA.pdf","source":{"id":"https://openalex.org/S4306401662","display_name":"Aaltodoc (Aalto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9927081","host_organization_name":"Aalto University","host_organization_lineage":["https://openalex.org/I9927081"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6800000071525574}],"awards":[{"id":"https://openalex.org/G4916470935","display_name":null,"funder_award_id":"314180","funder_id":"https://openalex.org/F4320335354","funder_display_name":"Strategic Research Council"},{"id":"https://openalex.org/G5833101998","display_name":null,"funder_award_id":"326304","funder_id":"https://openalex.org/F4320338463","funder_display_name":"CHIST-ERA"}],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"},{"id":"https://openalex.org/F4320335354","display_name":"Strategic Research Council","ror":null},{"id":"https://openalex.org/F4320338463","display_name":"CHIST-ERA","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4210633449.pdf","grobid_xml":"https://content.openalex.org/works/W4210633449.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1794703952","https://openalex.org/W1892339738","https://openalex.org/W1971858902","https://openalex.org/W2033462993","https://openalex.org/W2106900371","https://openalex.org/W2146990154","https://openalex.org/W2167425734","https://openalex.org/W2418720700","https://openalex.org/W2485911221","https://openalex.org/W2600030077","https://openalex.org/W2789645218","https://openalex.org/W2859599500","https://openalex.org/W2914944935","https://openalex.org/W2953669419","https://openalex.org/W2962736495","https://openalex.org/W2963033241","https://openalex.org/W2963265239","https://openalex.org/W2964091363","https://openalex.org/W2966615203","https://openalex.org/W2976122401","https://openalex.org/W2986303149","https://openalex.org/W3003169307","https://openalex.org/W3014041360","https://openalex.org/W3022674252","https://openalex.org/W3037767967","https://openalex.org/W3048473624","https://openalex.org/W3089542352","https://openalex.org/W3090651099","https://openalex.org/W3091544428","https://openalex.org/W3099587965","https://openalex.org/W3105259478","https://openalex.org/W3111215109","https://openalex.org/W3135474054","https://openalex.org/W3164946289","https://openalex.org/W3175955419"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W930597035","https://openalex.org/W2219666539"],"abstract_inverted_index":{"Grasp":[0],"synthesis":[1],"for":[2,23,61,102,178],"3D":[3],"deformable":[4],"objects":[5,93,160,195],"remains":[6],"a":[7,39,77,86,125,136,156],"little-explored":[8],"topic,":[9],"most":[10],"works":[11],"aiming":[12],"to":[13,26,29,35,58,76],"minimize":[14],"deformations.":[15],"However,":[16],"deformations":[17,28],"are":[18,202],"not":[19,120],"necessarily":[20],"harmful---humans":[21],"are,":[22],"example,":[24],"able":[25],"exploit":[27],"generate":[30,174],"new":[31,87],"potential":[32],"grasps.":[33,64],"How":[34],"achieve":[36,66],"that":[37,51,170],"on":[38,92,124,135,155],"robot":[40],"is":[41],"though":[42],"an":[43,49,73],"open":[44],"question.":[45],"This":[46],"paper":[47],"proposes":[48],"approach":[50,113,154,172],"uses":[52],"object":[53,70,122],"stiffness":[54,71,96,123,180,191],"information":[55,192],"in":[56,130,147],"addition":[57],"depth":[59],"images":[60],"synthesizing":[62],"high-quality":[63],"We":[65,83,106],"this":[67],"by":[68],"incorporating":[69,190],"as":[72],"additional":[74],"input":[75],"state-of-the-art":[78],"deep":[79],"grasp":[80,148],"planning":[81],"network.":[82,105],"also":[84],"curate":[85],"synthetic":[88],"dataset":[89],"of":[90,94,127,159,189,196],"grasps":[91,129,134],"varying":[95,162,197],"using":[97,151],"the":[98,104,115,152,171,183,187],"Isaac":[99],"Gym":[100],"simulator":[101],"training":[103],"experimentally":[107],"validate":[108],"and":[109,132,165,200],"compare":[110],"our":[111],"proposed":[112,153],"against":[114],"case":[116],"where":[117],"we":[118,168],"do":[119],"incorporate":[121],"total":[126],"2800":[128],"simulation":[131],"560":[133],"real":[137],"Franka":[138],"Panda":[139],"Emika.":[140],"The":[141],"experimental":[142],"results":[143,184],"show":[144,186],"significant":[145],"improvement":[146],"success":[149],"rate":[150],"wide":[157],"range":[158],"with":[161],"shapes,":[163],"sizes,":[164],"stiffnesses.":[166],"Furthermore,":[167],"demonstrate":[169],"can":[173],"different":[175,179],"grasping":[176,194],"strategies":[177],"values.":[181],"Together,":[182],"clearly":[185],"value":[188],"when":[193],"stiffness.":[198],"Code":[199],"video":[201],"available":[203],"at:":[204],"https://irobotics.aalto.fi/defggcnn.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}