{"id":"https://openalex.org/W4292347862","doi":"https://doi.org/10.1109/lra.2022.3199684","title":"Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions","display_name":"Visual Haptic Reasoning: Estimating Contact Forces by Observing Deformable Object Interactions","publication_year":2022,"publication_date":"2022-08-19","ids":{"openalex":"https://openalex.org/W4292347862","doi":"https://doi.org/10.1109/lra.2022.3199684"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3199684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3199684","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":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084226018","display_name":"Yufei Wang","orcid":"https://orcid.org/0000-0003-4024-7422"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yufei Wang","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4024-7422","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037048516","display_name":"David Held","orcid":"https://orcid.org/0000-0003-0537-1508"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Held","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0537-1508","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075365855","display_name":"Zackory Erickson","orcid":"https://orcid.org/0000-0002-6760-6213"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zackory Erickson","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6760-6213","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":2.2707,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.88573389,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":"4","first_page":"11426","last_page":"11433"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.994700014591217,"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/haptic-technology","display_name":"Haptic technology","score":0.8254659175872803},{"id":"https://openalex.org/keywords/laundry","display_name":"Laundry","score":0.7239028215408325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6495872735977173},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6417548060417175},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6119450926780701},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5524343252182007},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5005874633789062},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.47658440470695496},{"id":"https://openalex.org/keywords/superhydrophilicity","display_name":"Superhydrophilicity","score":0.4282481074333191},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4087812006473541},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4065101444721222},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16767963767051697}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8254659175872803},{"id":"https://openalex.org/C2778585658","wikidata":"https://www.wikidata.org/wiki/Q852100","display_name":"Laundry","level":2,"score":0.7239028215408325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6495872735977173},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6417548060417175},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6119450926780701},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5524343252182007},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5005874633789062},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.47658440470695496},{"id":"https://openalex.org/C118039452","wikidata":"https://www.wikidata.org/wiki/Q7643448","display_name":"Superhydrophilicity","level":3,"score":0.4282481074333191},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4087812006473541},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4065101444721222},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16767963767051697},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134514944","wikidata":"https://www.wikidata.org/wiki/Q817136","display_name":"Wetting","level":2,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3199684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3199684","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5369927059","display_name":null,"funder_award_id":"IIS-2046491","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320329803","display_name":"LG Electronics","ror":"https://ror.org/03ddh2c27"},{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W34950630","https://openalex.org/W52100253","https://openalex.org/W1897579901","https://openalex.org/W2002589631","https://openalex.org/W2019223072","https://openalex.org/W2089630413","https://openalex.org/W2105537999","https://openalex.org/W2112961542","https://openalex.org/W2132836675","https://openalex.org/W2467598065","https://openalex.org/W2560940104","https://openalex.org/W2737170915","https://openalex.org/W2738522242","https://openalex.org/W2760078242","https://openalex.org/W2765301586","https://openalex.org/W2794322549","https://openalex.org/W2805516822","https://openalex.org/W2937476238","https://openalex.org/W2959076435","https://openalex.org/W2963926543","https://openalex.org/W2966015075","https://openalex.org/W2968405527","https://openalex.org/W2973439545","https://openalex.org/W2978956737","https://openalex.org/W2980216391","https://openalex.org/W3034403720","https://openalex.org/W3035062249","https://openalex.org/W3091243689","https://openalex.org/W3091377662","https://openalex.org/W3104509089","https://openalex.org/W3122738733","https://openalex.org/W3132971170","https://openalex.org/W3164908030","https://openalex.org/W3184955535","https://openalex.org/W3199943889","https://openalex.org/W3205332174","https://openalex.org/W4226098973","https://openalex.org/W4229927528","https://openalex.org/W4394671432","https://openalex.org/W6631190155","https://openalex.org/W6687484953","https://openalex.org/W6739778489","https://openalex.org/W6751796012","https://openalex.org/W6763422710","https://openalex.org/W6774033856","https://openalex.org/W6785618536","https://openalex.org/W6795508825","https://openalex.org/W6795615294","https://openalex.org/W6801457259","https://openalex.org/W6803239650"],"related_works":["https://openalex.org/W3181783277","https://openalex.org/W2622997478","https://openalex.org/W1970382995","https://openalex.org/W4313227202","https://openalex.org/W2766826853","https://openalex.org/W4367850245","https://openalex.org/W1963841424","https://openalex.org/W3025054796","https://openalex.org/W2966923705","https://openalex.org/W2055696297"],"abstract_inverted_index":{"Robotic":[0],"manipulation":[1],"of":[2,55,61,92],"highly":[3],"deformable":[4],"cloth":[5],"presents":[6],"a":[7,40,44,130],"promising":[8],"opportunity":[9],"to":[10,47,139],"assist":[11],"people":[12],"with":[13,31,52,116,129,149],"several":[14],"daily":[15],"tasks,":[16,104],"such":[17],"as":[18],"washing":[19,103],"dishes;":[20],"folding":[21],"laundry;":[22],"or":[23],"dressing,":[24,99],"bathing,":[25,100],"and":[26,59,84,101,105,122],"hygiene":[27],"assistance":[28],"for":[29,97],"individuals":[30],"severe":[32],"motor":[33],"impairments.":[34],"In":[35],"this":[36],"letter,":[37],"we":[38],"introduce":[39],"formulation":[41],"that":[42,77,107],"enables":[43],"collaborative":[45],"robot":[46,85],"perform":[48],"visual":[49,83],"haptic":[50,79],"reasoning":[51,80],"cloth\u2014the":[53],"act":[54],"inferring":[56],"the":[57,108],"location":[58],"magnitude":[60],"applied":[62,141],"forces":[63,143],"during":[64],"physical":[65],"interaction.":[66],"We":[67,88,125],"present":[68,127],"two":[69],"distinct":[70],"model":[71],"representations,":[72],"trained":[73,109],"in":[74,95],"physics":[75],"simulation,":[76],"enable":[78],"using":[81],"only":[82],"kinematic":[86],"observations.":[87],"conducted":[89],"quantitative":[90],"evaluations":[91],"these":[93],"models":[94,110,138],"simulation":[96],"robot-assisted":[98],"dish":[102],"demonstrate":[106],"can":[111,152],"generalize":[112],"across":[113],"different":[114],"tasks":[115,148],"varying":[117],"interactions,":[118],"human":[119],"body":[120],"sizes,":[121],"object":[123],"shapes.":[124],"also":[126],"results":[128],"real-world":[131],"mobile":[132],"manipulator,":[133],"which":[134],"used":[135],"our":[136,156],"simulation-trained":[137],"estimate":[140],"contact":[142],"while":[144],"performing":[145],"physically":[146],"assistive":[147],"cloth.":[150],"Videos":[151],"be":[153],"found":[154],"at":[155],"project":[157],"webpage.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}