{"id":"https://openalex.org/W4385413734","doi":"https://doi.org/10.1109/lra.2023.3300237","title":"Robust Body Exposure (RoBE): A Graph-Based Dynamics Modeling Approach to Manipulating Blankets Over People","display_name":"Robust Body Exposure (RoBE): A Graph-Based Dynamics Modeling Approach to Manipulating Blankets Over People","publication_year":2023,"publication_date":"2023-07-31","ids":{"openalex":"https://openalex.org/W4385413734","doi":"https://doi.org/10.1109/lra.2023.3300237"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3300237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3300237","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":["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/A5018369317","display_name":"Kavya Puthuveetil","orcid":"https://orcid.org/0000-0003-2432-6577"},"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":true,"raw_author_name":"Kavya Puthuveetil","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2432-6577","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/A5063354427","display_name":"Sasha Wald","orcid":null},"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":"Sasha Wald","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0009-0001-4135-9859","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/A5010206476","display_name":"Atharva Pusalkar","orcid":"https://orcid.org/0009-0003-9828-2498"},"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":"Atharva Pusalkar","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0009-0003-9828-2498","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/A5000256862","display_name":"Pratyusha Karnati","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pratyusha Karnati","raw_affiliation_strings":["Google X, Everyday Robots, Mountain View, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google X, Everyday Robots, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"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":5,"corresponding_author_ids":["https://openalex.org/A5018369317"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.3587,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.57842392,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"8","issue":"10","first_page":"6299","last_page":"6306"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9969000220298767,"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":0.9969000220298767,"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":0.9891999959945679,"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/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9873999953269958,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6544721126556396},{"id":"https://openalex.org/keywords/lying","display_name":"Lying","score":0.6070227026939392},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6015267968177795},{"id":"https://openalex.org/keywords/supine-position","display_name":"Supine position","score":0.524201512336731},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.47928565740585327},{"id":"https://openalex.org/keywords/human-body","display_name":"Human body","score":0.4558497667312622},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.44041192531585693},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43716591596603394},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4349656403064728},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43140709400177},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15431973338127136},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.08246925473213196}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6544721126556396},{"id":"https://openalex.org/C119421448","wikidata":"https://www.wikidata.org/wiki/Q2268776","display_name":"Lying","level":2,"score":0.6070227026939392},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6015267968177795},{"id":"https://openalex.org/C125567185","wikidata":"https://www.wikidata.org/wiki/Q3267428","display_name":"Supine position","level":2,"score":0.524201512336731},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.47928565740585327},{"id":"https://openalex.org/C193293595","wikidata":"https://www.wikidata.org/wiki/Q23852","display_name":"Human body","level":2,"score":0.4558497667312622},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.44041192531585693},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43716591596603394},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4349656403064728},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43140709400177},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15431973338127136},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.08246925473213196},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3300237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3300237","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1581896395","https://openalex.org/W2085635784","https://openalex.org/W2133353747","https://openalex.org/W2138537392","https://openalex.org/W2152864241","https://openalex.org/W2587765586","https://openalex.org/W2737170915","https://openalex.org/W2760078242","https://openalex.org/W2902125520","https://openalex.org/W2963024823","https://openalex.org/W2973439545","https://openalex.org/W2978956737","https://openalex.org/W2980799546","https://openalex.org/W3039258510","https://openalex.org/W3040477237","https://openalex.org/W3048898221","https://openalex.org/W3091243689","https://openalex.org/W3104509089","https://openalex.org/W3129262728","https://openalex.org/W3132971170","https://openalex.org/W3163554922","https://openalex.org/W3199020598","https://openalex.org/W3199943889","https://openalex.org/W3207427042","https://openalex.org/W4281765718","https://openalex.org/W4292347862","https://openalex.org/W6752818329","https://openalex.org/W6755722174","https://openalex.org/W6756908582","https://openalex.org/W6774033856","https://openalex.org/W6774733536","https://openalex.org/W6779739588","https://openalex.org/W6783741718","https://openalex.org/W6783752911","https://openalex.org/W6795508825","https://openalex.org/W6795615294"],"related_works":["https://openalex.org/W2955910435","https://openalex.org/W2888123326","https://openalex.org/W2501458630","https://openalex.org/W2982312151","https://openalex.org/W4246089694","https://openalex.org/W2747462053","https://openalex.org/W2753162950","https://openalex.org/W4210719352","https://openalex.org/W2347526077","https://openalex.org/W2558074639"],"abstract_inverted_index":{"Robotic":[0],"caregivers":[1],"could":[2],"potentially":[3],"improve":[4],"the":[5,36,45,69,127,170,173],"quality":[6],"of":[7,9,30,68,120,172],"life":[8],"many":[10],"who":[11,21],"require":[12],"physical":[13],"assistance.":[14],"However,":[15],"in":[16,24,60,123,126,135,154],"order":[17],"to":[18,78,95,108,111,151,163],"assist":[19],"individuals":[20],"are":[22],"lying":[23,58],"bed,":[25],"robots":[26],"must":[27],"be":[28,96],"capable":[29],"dealing":[31],"with":[32,139],"a":[33,50,66,80,118,136,146],"significant":[34],"obstacle:":[35],"blanket":[37,161],"or":[38],"sheet":[39],"that":[40,92,145],"will":[41],"almost":[42],"always":[43],"cover":[44],"person's":[46],"body.":[47,174],"We":[48,100,130],"propose":[49],"method":[51],"for":[52],"targeted":[53],"bedding":[54],"manipulation":[55],"over":[56,75],"people":[57],"supine":[59],"bed":[61],"where":[62,142],"we":[63,73,143],"first":[64],"learn":[65],"model":[67,77],"cloth's":[70],"dynamics.":[71],"Then,":[72],"optimize":[74],"this":[76,103],"uncover":[79,164],"given":[81],"target":[82,165],"limb":[83],"using":[84],"information":[85],"about":[86],"human":[87,137,155],"body":[88,156,166],"shape":[89],"and":[90,113,125,160],"pose":[91],"only":[93],"needs":[94],"provided":[97],"at":[98],"run-time.":[99],"show":[101],"how":[102],"approach":[104,134],"enables":[105],"greater":[106],"robustness":[107],"variation":[109,153],"relative":[110],"geometric":[112],"reinforcement":[114],"learning":[115],"baselines":[116],"via":[117],"number":[119],"generalization":[121],"evaluations":[122],"simulation":[124],"real":[128,152],"world.":[129],"further":[131],"evaluate":[132],"our":[133],"study":[138],"12":[140],"participants":[141],"demonstrate":[144],"mobile":[147],"manipulator":[148],"can":[149],"adapt":[150],"shape,":[157],"size,":[158],"pose,":[159],"configuration":[162],"parts":[167],"without":[168],"exposing":[169],"rest":[171]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
