{"id":"https://openalex.org/W4415924689","doi":"https://doi.org/10.1109/lra.2026.3686666","title":"Toward a Multi-Embodied Grasping Agent","display_name":"Toward a Multi-Embodied Grasping Agent","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W4415924689","doi":"https://doi.org/10.1109/lra.2026.3686666"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3686666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3686666","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2510.27420","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Roman Freiberg","orcid":"https://orcid.org/0009-0004-9183-6977"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Roman Freiberg","raw_affiliation_strings":["Bosch Corporate Research, Renningen, Germany"],"raw_orcid":"https://orcid.org/0009-0004-9183-6977","affiliations":[{"raw_affiliation_string":"Bosch Corporate Research, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114618366","display_name":"Alexander Qualmann","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Qualmann","raw_affiliation_strings":["Bosch Corporate Research, Renningen, Germany"],"raw_orcid":"https://orcid.org/0009-0000-6634-682X","affiliations":[{"raw_affiliation_string":"Bosch Corporate Research, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043775193","display_name":"Ngo Anh Vien","orcid":"https://orcid.org/0000-0001-9646-267X"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ngo Anh Vien","raw_affiliation_strings":["Bosch Corporate Research, Renningen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-9646-267X","affiliations":[{"raw_affiliation_string":"Bosch Corporate Research, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110467801","display_name":"Gerhard Neumann","orcid":"https://orcid.org/0000-0002-5483-4225"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gerhard Neumann","raw_affiliation_strings":["Autonomous Learning Robots Lab, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5483-4225","affiliations":[{"raw_affiliation_string":"Autonomous Learning Robots Lab, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0129464,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"6","first_page":"7412","last_page":"7419"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9710000157356262,"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":0.9710000157356262,"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/T10868","display_name":"Soft Robotics and Applications","score":0.007899999618530273,"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"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.003599999938160181,"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/grippers","display_name":"Grippers","score":0.9279999732971191},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6758000254631042},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6410999894142151},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5374000072479248},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.51419997215271},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4494999945163727},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.42809998989105225},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.4090999960899353}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9279999732971191},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6758000254631042},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6410999894142151},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5745000243186951},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5705999732017517},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5374000072479248},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.51419997215271},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4494999945163727},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.42809998989105225},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.4090999960899353},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4025999903678894},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.382099986076355},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3617999851703644},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3497999906539917},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3456000089645386},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34369999170303345},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.34150001406669617},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3407999873161316},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.34049999713897705},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3391999900341034},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.30480000376701355},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.2858999967575073},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.27880001068115234},{"id":"https://openalex.org/C107524782","wikidata":"https://www.wikidata.org/wiki/Q40164","display_name":"Lever","level":2,"score":0.27390000224113464},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.2522999942302704}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2026.3686666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3686666","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:2510.27420","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2510.27420","pdf_url":"https://arxiv.org/pdf/2510.27420","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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2510.27420","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2510.27420","pdf_url":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2510.27420","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2510.27420","pdf_url":"https://arxiv.org/pdf/2510.27420","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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Multi-embodiment":[0],"grasping":[1,77],"aims":[2],"to":[3,27,111],"develop":[4],"approaches":[5],"that":[6,48],"exhibit":[7],"generalist":[8],"behavior":[9],"across":[10],"diverse":[11],"gripper":[12,19,51,70],"designs.":[13],"Existing":[14],"methods":[15],"often":[16],"learn":[17],"the":[18,28,32,60],"kinematic":[20,62],"structure":[21],"implicitly":[22],"and":[23,58,71,85,92,100,117],"face":[24],"challenges":[25],"due":[26],"difficulty":[29],"of":[30,56],"sourcing":[31],"required":[33],"large-scale":[34],"data.":[35],"In":[36],"this":[37],"work,":[38],"we":[39,79],"present":[40],"a":[41],"data-efficient,":[42],"flow-based,":[43],"equivariant":[44,76],"grasp":[45],"synthesis":[46],"architecture":[47],"handles":[49],"different":[50],"types":[52],"with":[53],"variable":[54],"degrees":[55],"freedom":[57],"exploits":[59],"underlying":[61],"model,":[63],"deducing":[64],"all":[65,81],"necessary":[66],"information":[67],"solely":[68],"from":[69,108],"scene":[72],"geometry.":[73],"Unlike":[74],"previous":[75],"methods,":[78],"implement":[80],"modules":[82],"in":[83,95],"JAX":[84],"provide":[86],"batching":[87],"capabilities":[88],"over":[89],"scenes,":[90],"grippers,":[91],"grasps,":[93],"resulting":[94],"smoother":[96],"learning,":[97],"improved":[98],"performance,":[99],"faster":[101],"inference.":[102],"Our":[103],"dataset":[104],"encompasses":[105],"grippers":[106],"ranging":[107],"humanoid":[109],"hands":[110],"parallel-jaw":[112],"designs,":[113],"including":[114],"25,000":[115],"scenes":[116],"20":[118],"million":[119],"grasps.":[120]},"counts_by_year":[],"updated_date":"2026-05-07T06:04:25.777469","created_date":"2025-11-05T00:00:00"}