{"id":"https://openalex.org/W4388820037","doi":"https://doi.org/10.1109/lra.2023.3334971","title":"In-Hand Object Classification and Pose Estimation With Sim-to-Real Tactile Transfer for Robotic Manipulation","display_name":"In-Hand Object Classification and Pose Estimation With Sim-to-Real Tactile Transfer for Robotic Manipulation","publication_year":2023,"publication_date":"2023-11-20","ids":{"openalex":"https://openalex.org/W4388820037","doi":"https://doi.org/10.1109/lra.2023.3334971"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3334971","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3334971","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/A5048817944","display_name":"Sang-Hoon Yang","orcid":"https://orcid.org/0000-0002-4672-021X"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Sanghoon Yang","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-4672-021X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084343905","display_name":"Won Dong Kim","orcid":"https://orcid.org/0000-0002-8649-1511"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Won Dong Kim","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-8649-1511","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101412469","display_name":"Hyunkyu Park","orcid":"https://orcid.org/0000-0001-5121-2917"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyunkyu Park","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-5121-2917","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070697504","display_name":"Seojung Min","orcid":"https://orcid.org/0009-0007-6646-2872"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seojung Min","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0007-6646-2872","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101856798","display_name":"Hyonyoung Han","orcid":"https://orcid.org/0000-0001-6712-7362"},"institutions":[{"id":"https://openalex.org/I142401562","display_name":"Electronics and Telecommunications Research Institute","ror":"https://ror.org/03ysstz10","country_code":"KR","type":"facility","lineage":["https://openalex.org/I142401562","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyonyoung Han","raw_affiliation_strings":["Electronics and Telecommunications Research Institute, ETRI, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-6712-7362","affiliations":[{"raw_affiliation_string":"Electronics and Telecommunications Research Institute, ETRI, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I142401562"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100608898","display_name":"Jung Kim","orcid":"https://orcid.org/0000-0002-1825-6325"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung Kim","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-1825-6325","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5048817944"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":1.1985,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.78327762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"9","issue":"1","first_page":"659","last_page":"666"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9976000189781189,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7252793312072754},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6543746590614319},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6439765691757202},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.6401373147964478},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6186811923980713},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5814855098724365},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.563376784324646},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5197686553001404},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.50557541847229},{"id":"https://openalex.org/keywords/tactile-perception","display_name":"Tactile perception","score":0.45499640703201294},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4167187809944153},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.37351691722869873},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.33362045884132385},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2053869366645813},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14449569582939148}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7252793312072754},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6543746590614319},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6439765691757202},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6401373147964478},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6186811923980713},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5814855098724365},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.563376784324646},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5197686553001404},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.50557541847229},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.45499640703201294},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4167187809944153},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.37351691722869873},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.33362045884132385},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2053869366645813},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14449569582939148},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3334971","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3334971","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322093","display_name":"Electronics and Telecommunications Research Institute","ror":"https://ror.org/03ysstz10"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1540972938","https://openalex.org/W1969299770","https://openalex.org/W1978464142","https://openalex.org/W2024400951","https://openalex.org/W2030204236","https://openalex.org/W2074936002","https://openalex.org/W2113321380","https://openalex.org/W2114628570","https://openalex.org/W2147212968","https://openalex.org/W2158782408","https://openalex.org/W2169364846","https://openalex.org/W2344872270","https://openalex.org/W2565843404","https://openalex.org/W2567969112","https://openalex.org/W2767644386","https://openalex.org/W2786036844","https://openalex.org/W2955691601","https://openalex.org/W2963263790","https://openalex.org/W2967509406","https://openalex.org/W2969180157","https://openalex.org/W2979400304","https://openalex.org/W2994492048","https://openalex.org/W2996888844","https://openalex.org/W3099322865","https://openalex.org/W3112665924","https://openalex.org/W3138117074","https://openalex.org/W3202605556","https://openalex.org/W4206748793","https://openalex.org/W4386607259","https://openalex.org/W6747827861","https://openalex.org/W6763422710","https://openalex.org/W6802749953"],"related_works":["https://openalex.org/W2659967915","https://openalex.org/W4320086129","https://openalex.org/W2968697781","https://openalex.org/W2587349145","https://openalex.org/W4280558152","https://openalex.org/W3044219292","https://openalex.org/W1572125920","https://openalex.org/W2397232755","https://openalex.org/W4386095487","https://openalex.org/W3160703663"],"abstract_inverted_index":{"Dexterous":[0],"robotic":[1],"grasping":[2],"gains":[3],"great":[4],"benefits":[5],"from":[6,123,161],"tactile":[7,14,49,57,94,102,119],"sensation,":[8],"but":[9],"delicate":[10],"object":[11,34,69,148],"exploration":[12,234],"by":[13,18,38,52,131,169],"information":[15],"is":[16,166,197],"challenged":[17],"difficulty":[19],"in":[20,182],"rich":[21],"and":[22,71,208,217],"efficient":[23],"data":[24,95],"production.":[25],"In":[26,172,186],"this":[27],"letter,":[28],"we":[29,79],"propose":[30],"a":[31,39,43,53,62,85,126,146,174],"tactile-based":[32],"in-hand":[33,195],"perception":[35],"approach,":[36],"empowered":[37],"sim-to-real":[40,184],"approach":[41,223],"toward":[42],"data-efficient":[44],"learning":[45],"process.":[46],"A":[47,97],"high-fidelity":[48],"input,":[50],"measured":[51],"pair":[54],"of":[55,68,87,109,133,136,142,151,176,194,211],"vision-based":[56],"sensors,":[58],"was":[59,104,129],"represented":[60],"as":[61],"point":[63,200],"cloud":[64,201],"facilitating":[65],"dual":[66],"functionality":[67],"classification":[70,149],"the":[72,77,107,110,114,143,158,170,179,183,189,192,225],"associated":[73],"pose":[74],"estimation.":[75],"For":[76],"classification,":[78,191],"constructed":[80],"<italic":[81,88],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[82,89,154,214],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">PoinTacNet</i>":[83],",":[84],"variation":[86],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">PointNet</i>":[90],"to":[91,113,227,230],"fit":[92],"into":[93],"processing.":[96],"reliable":[98],"simulation":[99],"methodology":[100],"on":[101,157],"input":[103],"employed":[105],"for":[106,236],"pretraining":[108],"model,":[111],"transferred":[112],"fine-tuning":[115],"process":[116],"facing":[117],"real":[118],"data.":[120],"Taking":[121],"inspiration":[122],"human":[124],"behaviors,":[125],"re-grasping":[127],"strategy":[128],"imparted":[130],"means":[132],"conditional":[134],"accumulation":[135],"class":[137],"likelihood":[138],"distribution.":[139],"The":[140,221],"result":[141],"framework":[144],"facilitates":[145],"high":[147],"accuracy":[150],"83.89":[152],"<inline-formula":[153,213],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[155,215],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>":[156],"ten":[159],"objects":[160,196],"McMaster-Carr's":[162],"CAD":[163],"models,":[164],"which":[165],"significantly":[167],"improved":[168],"re-grasping.":[171],"addition,":[173],"set":[175],"benchmarks":[177],"displays":[178],"computational":[180],"efficiency":[181],"transfer.":[185],"line":[187],"with":[188],"successful":[190],"posture":[193],"estimated":[198],"using":[199],"registration":[202],"algorithms,":[203],"achieving":[204],"an":[205],"average":[206],"angular":[207],"translational":[209],"RMSE":[210],"5.03":[212],"notation=\"LaTeX\">$^\\circ$</tex-math></inline-formula>":[216],"2.41":[218],"mm,":[219],"respectively.":[220],"proposed":[222],"has":[224],"potential":[226],"enable":[228],"robots":[229],"attain":[231],"human-like":[232],"haptic":[233],"skills":[235],"perceiving":[237],"unstructured":[238],"environments.":[239]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}