{"id":"https://openalex.org/W4415821489","doi":"https://doi.org/10.1109/ro-man63969.2025.11217682","title":"GRAsPAD: Generalized framework for optimal grasp key-points active detection","display_name":"GRAsPAD: Generalized framework for optimal grasp key-points active detection","publication_year":2025,"publication_date":"2025-08-25","ids":{"openalex":"https://openalex.org/W4415821489","doi":"https://doi.org/10.1109/ro-man63969.2025.11217682"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man63969.2025.11217682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217682","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/RO-MAN63969.2025.11217682","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5099585914","display_name":"Nikolaos Efstathopoulos","orcid":null},"institutions":[{"id":"https://openalex.org/I26840924","display_name":"Mediterranean University","ror":"https://ror.org/03tsjvt68","country_code":"ME","type":"education","lineage":["https://openalex.org/I26840924"]}],"countries":["ME"],"is_corresponding":false,"raw_author_name":"Nikolaos Efstathopoulos","raw_affiliation_strings":["Hellenic Mediterranean University,Dept. of Electrical and Computer Engineering,Heraklion,Greece,714 10"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hellenic Mediterranean University,Dept. of Electrical and Computer Engineering,Heraklion,Greece,714 10","institution_ids":["https://openalex.org/I26840924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084346803","display_name":"Nikolaos Kounalakis","orcid":null},"institutions":[{"id":"https://openalex.org/I26840924","display_name":"Mediterranean University","ror":"https://ror.org/03tsjvt68","country_code":"ME","type":"education","lineage":["https://openalex.org/I26840924"]}],"countries":["ME"],"is_corresponding":false,"raw_author_name":"Nikolaos Kounalakis","raw_affiliation_strings":["Hellenic Mediterranean University,Dept. of Mechanical Engineering,Heraklion,Greece,714 10"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hellenic Mediterranean University,Dept. of Mechanical Engineering,Heraklion,Greece,714 10","institution_ids":["https://openalex.org/I26840924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075790092","display_name":"Vasiliki Balaska","orcid":"https://orcid.org/0000-0002-9770-8552"},"institutions":[{"id":"https://openalex.org/I26840924","display_name":"Mediterranean University","ror":"https://ror.org/03tsjvt68","country_code":"ME","type":"education","lineage":["https://openalex.org/I26840924"]}],"countries":["ME"],"is_corresponding":false,"raw_author_name":"Vasiliki Balaska","raw_affiliation_strings":["Hellenic Mediterranean University,Dept. of Electrical and Computer Engineering,Heraklion,Greece,714 10"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hellenic Mediterranean University,Dept. of Electrical and Computer Engineering,Heraklion,Greece,714 10","institution_ids":["https://openalex.org/I26840924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087007264","display_name":"John Fasoulas","orcid":"https://orcid.org/0000-0002-4863-0963"},"institutions":[{"id":"https://openalex.org/I26840924","display_name":"Mediterranean University","ror":"https://ror.org/03tsjvt68","country_code":"ME","type":"education","lineage":["https://openalex.org/I26840924"]}],"countries":["ME"],"is_corresponding":false,"raw_author_name":"John Fasoulas","raw_affiliation_strings":["Hellenic Mediterranean University,Dept. of Mechanical Engineering,Heraklion,Greece,714 10"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hellenic Mediterranean University,Dept. of Mechanical Engineering,Heraklion,Greece,714 10","institution_ids":["https://openalex.org/I26840924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031370399","display_name":"Dimitrios Papageorgiou","orcid":"https://orcid.org/0000-0003-3677-4772"},"institutions":[{"id":"https://openalex.org/I26840924","display_name":"Mediterranean University","ror":"https://ror.org/03tsjvt68","country_code":"ME","type":"education","lineage":["https://openalex.org/I26840924"]}],"countries":["ME"],"is_corresponding":false,"raw_author_name":"Dimitrios Papageorgiou","raw_affiliation_strings":["Hellenic Mediterranean University,Dept. of Electrical and Computer Engineering,Heraklion,Greece,714 10"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hellenic Mediterranean University,Dept. of Electrical and Computer Engineering,Heraklion,Greece,714 10","institution_ids":["https://openalex.org/I26840924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I26840924"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.4382041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"629","last_page":"635"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9334999918937683,"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":0.9334999918937683,"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":0.023499999195337296,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.007199999876320362,"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/grasp","display_name":"GRASP","score":0.9448000192642212},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5677000284194946},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5367000102996826},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.5094000101089478},{"id":"https://openalex.org/keywords/active-perception","display_name":"Active perception","score":0.5026999711990356},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.45260000228881836},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.39660000801086426},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.3905999958515167},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.388700008392334}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9448000192642212},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.698199987411499},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5677000284194946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5464000105857849},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5367000102996826},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5146999955177307},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.5094000101089478},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.5026999711990356},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.45260000228881836},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.39660000801086426},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.3905999958515167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.388700008392334},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.36980000138282776},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3684000074863434},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.3416000008583069},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3411000072956085},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3395000100135803},{"id":"https://openalex.org/C205555498","wikidata":"https://www.wikidata.org/wiki/Q505588","display_name":"CMA-ES","level":4,"score":0.3353999853134155},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3271999955177307},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.3190000057220459},{"id":"https://openalex.org/C185142706","wikidata":"https://www.wikidata.org/wiki/Q1134404","display_name":"Covariance matrix","level":2,"score":0.3070000112056732},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2892000079154968},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.28760001063346863},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.2793999910354614},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.2773999869823456},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.2711000144481659},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.25780001282691956},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.25209999084472656}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ro-man63969.2025.11217682","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217682","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:17569201","is_oa":true,"landing_page_url":"https://doi.org/10.1109/RO-MAN63969.2025.11217682","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"RO-MAN, 2025 34th IEEE International Conference on Robot and Human Interactive Communication, Eindhoven, The Netherlands, 25-29 August 2025","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:17569201","is_oa":true,"landing_page_url":"https://doi.org/10.1109/RO-MAN63969.2025.11217682","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"RO-MAN, 2025 34th IEEE International Conference on Robot and Human Interactive Communication, Eindhoven, The Netherlands, 25-29 August 2025","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1920022804","https://openalex.org/W2096268286","https://openalex.org/W2105934661","https://openalex.org/W2138537392","https://openalex.org/W2409009991","https://openalex.org/W2737883164","https://openalex.org/W2768890541","https://openalex.org/W2772783460","https://openalex.org/W2963139856","https://openalex.org/W2967729293","https://openalex.org/W2969140976","https://openalex.org/W4205354066","https://openalex.org/W4205477744","https://openalex.org/W4285102342","https://openalex.org/W4285110901","https://openalex.org/W4311035309","https://openalex.org/W4386243179","https://openalex.org/W4387537752","https://openalex.org/W4389665555","https://openalex.org/W4390872753","https://openalex.org/W4400077261","https://openalex.org/W4402716331"],"related_works":[],"abstract_inverted_index":{"In":[0],"the":[1,7,21,26,65,103,120,154,159,163],"challenging":[2],"context":[3],"of":[4,23,30,48,64,122,162,167,181],"human-robot":[5],"collaboration,":[6],"ability":[8],"to":[9,34,88,113,144,185],"capture":[10],"critical":[11,173],"human-grasp-related":[12],"features":[13,91],"in":[14,55,92,116,165],"a":[15,42,60,84,93,127,139],"short":[16],"period":[17],"is":[18,99,142,172],"essential":[19],"for":[20,45,77,174],"transfer":[22,180],"skills/experience":[24],"and":[25,58,125,137,178],"effective":[27,179],"imitation":[28],"learning":[29,177],"human":[31,66,182],"grasping":[32,183],"strategies":[33,184],"robotic":[35,175,186],"systems.":[36,187],"The":[37,69,96,150],"paper":[38],"at":[39],"hand":[40],"introduces":[41],"novel":[43],"system":[44],"pose":[46,98,160],"optimization":[47,161],"an":[49],"active":[50],"(moving)":[51],"sensor,":[52],"reducing":[53],"uncertainty":[54,115],"grasp":[56,67,123,131,168],"perception":[57,124,169],"enabling":[59],"more":[61,129],"accurate":[62],"observation":[63],"pose.":[68],"proposed":[70],"framework,":[71],"coined":[72],"as":[73],"\"GRAsPAD\"":[74],"(Generalized":[75],"fRAmework":[76],"optimal":[78],"graSp":[79],"key-Points":[80],"Active":[81],"Detection),":[82],"leverages":[83],"keypoint":[85,146],"detection":[86],"model":[87],"identify":[89],"grasp-related":[90],"tomato":[94],"fruit.":[95],"camera":[97],"iteratively":[100],"adjusted":[101],"through":[102],"Covariance":[104],"Matrix":[105],"Adaptation":[106],"with":[107],"Margin":[108],"-":[109],"Evolution":[110],"Strategy":[111],"(CMAwM-ES)":[112],"minimize":[114],"detected":[117],"keypoints,":[118],"enhancing":[119],"accuracy":[121],"ensuring":[126],"clearer,":[128],"stable":[130],"representation.":[132],"To":[133],"mitigate":[134],"sensor":[135],"noise":[136],"variability,":[138],"Kalman":[140],"filter":[141],"applied":[143],"refine":[145],"detections":[147],"over":[148],"time.":[149],"experimental":[151],"results":[152],"demonstrate":[153],"significant":[155],"improvement":[156],"achieved":[157],"by":[158],"observer,":[164],"terms":[166],"quality,":[170],"which":[171],"skill":[176]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-03T00:00:00"}
