{"id":"https://openalex.org/W4376605709","doi":"https://doi.org/10.1109/robosoft55895.2023.10121962","title":"EDAMS: An Encoder-Decoder Architecture for Multi-grasp Soft Sensing Object Recognition","display_name":"EDAMS: An Encoder-Decoder Architecture for Multi-grasp Soft Sensing Object Recognition","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4376605709","doi":"https://doi.org/10.1109/robosoft55895.2023.10121962"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft55895.2023.10121962","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10121962","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5079173239","display_name":"Oliver Shorthose","orcid":"https://orcid.org/0000-0001-7377-6086"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Oliver Shorthose","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,Oxford,UK","Oxford Robotics Institute, University of Oxford, Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,Oxford,UK","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041142320","display_name":"Alessandro Albini","orcid":"https://orcid.org/0000-0003-1562-7044"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alessandro Albini","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,Oxford,UK","Oxford Robotics Institute, University of Oxford, Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,Oxford,UK","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090728849","display_name":"Luca Scimeca","orcid":"https://orcid.org/0000-0002-2821-0072"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]},{"id":"https://openalex.org/I4210134579","display_name":"Dana-Farber/Harvard Cancer Center","ror":"https://ror.org/03pvyf116","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I136199984","https://openalex.org/I4210117453","https://openalex.org/I4210134579"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Scimeca","raw_affiliation_strings":["Harvard University and Dana Farber,Boston,MA,USA","Harvard University and Dana Farber, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard University and Dana Farber,Boston,MA,USA","institution_ids":["https://openalex.org/I4210134579"]},{"raw_affiliation_string":"Harvard University and Dana Farber, Boston, MA, USA","institution_ids":["https://openalex.org/I136199984","https://openalex.org/I4210134579"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100317843","display_name":"Liang He","orcid":"https://orcid.org/0000-0001-9973-356X"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Liang He","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,Oxford,UK","Oxford Robotics Institute, University of Oxford, Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,Oxford,UK","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054789141","display_name":"Perla Maiolino","orcid":"https://orcid.org/0000-0002-7588-9567"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["GB","IT"],"is_corresponding":false,"raw_author_name":"Perla Maiolino","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,Oxford,UK","Oxford Robotics Institute, University of Oxford, Oxford, UK","University of Genoa, Liguria, IT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,Oxford,UK","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Oxford, UK","institution_ids":["https://openalex.org/I40120149","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"University of Genoa, Liguria, IT","institution_ids":["https://openalex.org/I83816512"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9991000294685364,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9987000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8459882736206055},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7798072099685669},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6382437944412231},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6060877442359924},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5978156328201294},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5389957427978516},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.4890669286251068},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.45736417174339294},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.42216286063194275},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1559481918811798}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8459882736206055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7798072099685669},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6382437944412231},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6060877442359924},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5978156328201294},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5389957427978516},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.4890669286251068},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.45736417174339294},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.42216286063194275},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1559481918811798},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robosoft55895.2023.10121962","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10121962","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","raw_type":"proceedings-article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:1a110299-3b0d-4fbd-9ef5-7362ac8a40a5","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:1a110299-3b0d-4fbd-9ef5-7362ac8a40a5","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements","raw_type":"Conference item"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3105706333","display_name":null,"funder_award_id":"EP/V000748/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6198381055","display_name":"From Sensing to Collaboration: Engineering, Exploring and Exploiting the Building Blocks of Embodied Intelligence - An EPSRC Programme Grant","funder_award_id":"EP/V000748/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W971303027","https://openalex.org/W1522301498","https://openalex.org/W1987971958","https://openalex.org/W2001237545","https://openalex.org/W2026640515","https://openalex.org/W2282481780","https://openalex.org/W2344531169","https://openalex.org/W2556078315","https://openalex.org/W2585344004","https://openalex.org/W2858249618","https://openalex.org/W2883279767","https://openalex.org/W2943200793","https://openalex.org/W2947409955","https://openalex.org/W2961681446","https://openalex.org/W2963263790","https://openalex.org/W3018423233","https://openalex.org/W3040887933","https://openalex.org/W3043315546","https://openalex.org/W3096330502","https://openalex.org/W3099587965","https://openalex.org/W3131731769","https://openalex.org/W3163165974","https://openalex.org/W3172873108","https://openalex.org/W3206105843","https://openalex.org/W3212741141","https://openalex.org/W4210913434","https://openalex.org/W4214481183","https://openalex.org/W4221021166","https://openalex.org/W4226188652","https://openalex.org/W6631190155","https://openalex.org/W6780792347"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W3133406196","https://openalex.org/W4386395740","https://openalex.org/W4283822356","https://openalex.org/W1950940422","https://openalex.org/W2129146436","https://openalex.org/W2032507829","https://openalex.org/W2147282173"],"abstract_inverted_index":{"The":[0],"use":[1],"of":[2,42,60,69,94,126,131,145,148,161,179],"tactile":[3,35,76,117],"sensing":[4,87],"exhibits":[5],"benefits":[6],"over":[7],"visual":[8],"detection":[9],"as":[10],"it":[11],"can":[12,19],"be":[13],"deployed":[14],"in":[15,62,164],"occluded":[16],"environments":[17],"and":[18,88,135,154],"provide":[20,141],"deeper":[21],"information":[22,96],"about":[23],"an":[24,81,89,142],"object's":[25],"material":[26],"properties.":[27],"Soft":[28,86],"hands":[29],"have":[30],"increasingly":[31],"been":[32],"used":[33],"for":[34,56,84,151,184,190],"object":[36,133,138,152],"identification,":[37,153],"providing":[38],"a":[39,54,58,70,121,185],"high":[40],"degree":[41],"adaptability":[43],"without":[44],"requiring":[45],"complex":[46],"control":[47],"schemes.":[48],"In":[49],"this":[50],"work,":[51],"we":[52,168],"propose":[53,79],"framework":[55],"identifying":[57],"range":[59],"objects":[61,163],"any":[63],"pose":[64,106],"by":[65],"exploiting":[66],"the":[67,102,105,110,114,128,146,159,162,170,177],"compliance":[68],"soft":[71],"hand":[72],"equipped":[73],"with":[74],"distributed":[75],"sensing.":[77],"We":[78,108,140],"EDAMS,":[80],"Encoder-Decoder":[82],"Architecture":[83],"Multi-grasp":[85],"ad-hoc":[90],"data":[91,119],"structure":[92],"capable":[93,125],"encoding":[95],"on":[97,104,158],"multiple":[98],"grasps,":[99,180],"while":[100],"decoupling":[101],"dependency":[103],"order.":[107],"train":[109],"model":[111],"to":[112,173,188],"map":[113],"high-dimensional":[115],"multi-grasp":[116,149],"sensor":[118,165],"into":[120],"lower-dimensional":[122],"latent":[123],"space":[124],"achieving":[127],"geometrical":[129],"separation":[130,160],"each":[132],"class,":[134],"enabling":[136],"accurate":[137],"classification.":[139],"empirical":[143],"analysis":[144],"benefit":[147],"perception":[150],"show":[155],"its":[156],"impact":[157],"space.":[166],"Notably,":[167],"find":[169],"classification":[171],"accuracy":[172],"change":[174],"widely":[175],"across":[176],"number":[178],"ranging":[181],"from":[182],"47.0%":[183],"single":[186],"grasp,":[187],"99.9%":[189],"10":[191],"grasps.":[192]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
