{"id":"https://openalex.org/W4386233836","doi":"https://doi.org/10.1109/lra.2023.3309592","title":"Preprocessing-Based Planning for Utilizing Contacts in Semi-Structured High-Precision Insertion Tasks","display_name":"Preprocessing-Based Planning for Utilizing Contacts in Semi-Structured High-Precision Insertion Tasks","publication_year":2023,"publication_date":"2023-08-28","ids":{"openalex":"https://openalex.org/W4386233836","doi":"https://doi.org/10.1109/lra.2023.3309592"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3309592","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2023.3309592","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"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2406.05522","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034152539","display_name":"Muhammad Suhail Saleem","orcid":"https://orcid.org/0000-0002-5698-6759"},"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":"Muhammad Suhail Saleem","raw_affiliation_strings":["Robotics Insitute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5698-6759","affiliations":[{"raw_affiliation_string":"Robotics Insitute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041551497","display_name":"Rishi Veerapaneni","orcid":"https://orcid.org/0000-0001-7212-617X"},"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":"Rishi Veerapaneni","raw_affiliation_strings":["Robotics Insitute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7212-617X","affiliations":[{"raw_affiliation_string":"Robotics Insitute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103257510","display_name":"Maxim Likhachev","orcid":"https://orcid.org/0000-0002-9539-2398"},"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":"Maxim Likhachev","raw_affiliation_strings":["Robotics Insitute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9539-2398","affiliations":[{"raw_affiliation_string":"Robotics Insitute, 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":0.1111,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.39746779,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"8","issue":"11","first_page":"6947","last_page":"6954"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.7093418836593628},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6278895139694214},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34755897521972656}],"concepts":[{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.7093418836593628},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6278895139694214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34755897521972656}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3309592","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lra.2023.3309592","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:2406.05522","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.05522","pdf_url":"https://arxiv.org/pdf/2406.05522","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2406.05522","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.05522","pdf_url":"https://arxiv.org/pdf/2406.05522","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320318799","display_name":"Honda Research Institute, USA","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W135762054","https://openalex.org/W1527850601","https://openalex.org/W2004733654","https://openalex.org/W2009533501","https://openalex.org/W2023509699","https://openalex.org/W2083624955","https://openalex.org/W2111691855","https://openalex.org/W2112714380","https://openalex.org/W2124386111","https://openalex.org/W2128990851","https://openalex.org/W2167501464","https://openalex.org/W2219574840","https://openalex.org/W2401467858","https://openalex.org/W2408436805","https://openalex.org/W2737569089","https://openalex.org/W2890218953","https://openalex.org/W2938807566","https://openalex.org/W2963940579","https://openalex.org/W2964854906","https://openalex.org/W2965787007","https://openalex.org/W3040086528","https://openalex.org/W3156347756","https://openalex.org/W6605525015","https://openalex.org/W6631588141","https://openalex.org/W6761327112","https://openalex.org/W6793567207"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"In":[0],"manipulation":[1],"tasks":[2,52],"like":[3],"plug":[4,203],"insertion":[5,51,89,204],"or":[6],"assembly":[7,216],"that":[8,120,148,173],"have":[9],"low":[10],"tolerance":[11],"to":[12,73,114,132,158,166],"errors":[13],"in":[14,35,45,90,200,206,218,220],"pose":[15,57,100,225],"estimation":[16],"(errors":[17],"of":[18,21,30,40,65,98,129,136,152,185,196,209,223],"the":[19,28,38,63,68,79,96,116,133,150,169,174,188,194,197,207,221],"order":[20],"2":[22],"mm":[23],"can":[24,33,121],"cause":[25],"task":[26,205,217],"failure),":[27],"utilization":[29],"touch/contact":[31],"modality":[32],"aid":[34],"accurately":[36],"localizing":[37],"object":[39],"interest.":[41],"Motivated":[42],"by":[43,103,181],"this,":[44],"this":[46,138],"work":[47],"we":[48,60,140],"model":[49],"high-precision":[50,88],"as":[53,71,156],"planning":[54,85,118,154,161],"problems":[55,119,155],"under":[56],"uncertainty,":[58],"where":[59,95],"effectively":[61],"utilize":[62],"occurrence":[64],"contacts":[66],"(or":[67],"lack":[69],"thereof)":[70],"observations":[72],"reduce":[74],"uncertainty":[75,212],"and":[76,92,125,163,213],"reliably":[77],"complete":[78],"task.":[80],"We":[81,171,192],"present":[82],"a":[83,104,127,142,183,201,214],"preprocessing-based":[84],"framework":[86,199],"for":[87],"repetitive":[91],"time-critical":[93],"settings,":[94],"set":[97,111],"initial":[99],"distributions":[101],"(identified":[102],"perception":[105],"system)":[106],"is":[107],"finite.":[108],"The":[109],"finite":[110],"allows":[112],"us":[113],"enumerate":[115],"possible":[117],"be":[122],"encountered":[123],"online":[124],"preprocess":[126],"database":[128,179],"policies.":[130],"Due":[131],"computational":[134],"complexity":[135],"constructing":[137],"database,":[139],"propose":[141],"general":[143],"experience-based":[144],"POMDP":[145],"solver,":[146],"E-RTDP-Bel,":[147],"uses":[149],"solutions":[151],"similar":[153],"experience":[157],"speed":[159],"up":[160,178],"queries":[162],"use":[164],"it":[165],"efficiently":[167],"construct":[168],"database.":[170],"show":[172],"developed":[175],"algorithm":[176],"speeds":[177],"creation":[180],"over":[182],"factor":[184],"100,":[186],"making":[187],"process":[189],"computationally":[190],"tractable.":[191],"demonstrate":[193],"effectiveness":[195],"proposed":[198],"real-world":[202],"presence":[208,222],"port":[210],"position":[211],"pipe":[215,224],"simulation":[219],"uncertainty.":[226]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2023-08-29T00:00:00"}
