{"id":"https://openalex.org/W4376605565","doi":"https://doi.org/10.1109/robosoft55895.2023.10121992","title":"Multi-modal Sensor Fusion for Learning Rich Models for Interacting Soft Robots","display_name":"Multi-modal Sensor Fusion for Learning Rich Models for Interacting Soft Robots","publication_year":2023,"publication_date":"2023-04-03","ids":{"openalex":"https://openalex.org/W4376605565","doi":"https://doi.org/10.1109/robosoft55895.2023.10121992"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft55895.2023.10121992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10121992","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":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://discovery.ucl.ac.uk/id/eprint/10171973/1/2205.04202.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037510570","display_name":"Thomas George Thuruthel","orcid":"https://orcid.org/0000-0003-0571-1672"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]},{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["GB","US"],"is_corresponding":true,"raw_author_name":"Thomas George Thuruthel","raw_affiliation_strings":["University of Cambridge,The Bio-Inspired Robotics Lab,Department of Engineering,UK","Department of Computer Science, University College London, London, UK","Department of Engineering, The Bio-Inspired Robotics Lab, University of Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"University of Cambridge,The Bio-Inspired Robotics Lab,Department of Engineering,UK","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Department of Computer Science, University College London, London, UK","institution_ids":["https://openalex.org/I45129253"]},{"raw_affiliation_string":"Department of Engineering, The Bio-Inspired Robotics Lab, University of Cambridge, UK","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041874420","display_name":"Fumiya Iida","orcid":"https://orcid.org/0000-0001-9246-7190"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Fumiya Iida","raw_affiliation_strings":["University of Cambridge,The Bio-Inspired Robotics Lab,Department of Engineering,UK","Department of Engineering, The Bio-Inspired Robotics Lab, University of Cambridge, UK"],"affiliations":[{"raw_affiliation_string":"University of Cambridge,The Bio-Inspired Robotics Lab,Department of Engineering,UK","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Department of Engineering, The Bio-Inspired Robotics Lab, University of Cambridge, UK","institution_ids":["https://openalex.org/I241749"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5037510570"],"corresponding_institution_ids":["https://openalex.org/I241749","https://openalex.org/I4210116723","https://openalex.org/I45129253"],"apc_list":null,"apc_paid":null,"fwci":0.9725,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.71704876,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9890000224113464,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9840999841690063,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.7400107383728027},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.7362942695617676},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7345485091209412},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6589279770851135},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5649929046630859},{"id":"https://openalex.org/keywords/soft-sensor","display_name":"Soft sensor","score":0.4856042265892029},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.47835320234298706},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.4287320077419281},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.4131460189819336},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4083108901977539},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.29655343294143677},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.20243442058563232}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7400107383728027},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.7362942695617676},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7345485091209412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6589279770851135},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5649929046630859},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.4856042265892029},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.47835320234298706},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.4287320077419281},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4131460189819336},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4083108901977539},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.29655343294143677},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.20243442058563232},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/robosoft55895.2023.10121992","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft55895.2023.10121992","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:eprints.ucl.ac.uk.OAI2:10171973","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10171973/","pdf_url":"https://discovery.ucl.ac.uk/id/eprint/10171973/1/2205.04202.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"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":"     In:  2023 IEEE International Conference on Soft Robotics, RoboSoft 2023.  (pp. pp. 1327-1333).  IEEE: Singapore. (2023)     ","raw_type":"Proceedings paper"},{"id":"pmh:oai:www.repository.cam.ac.uk:1810/347072","is_oa":true,"landing_page_url":"https://www.repository.cam.ac.uk/handle/1810/347072","pdf_url":"https://www.repository.cam.ac.uk/bitstreams/6056540b-4476-4ecf-8034-c6ac611c0dda/download","source":{"id":"https://openalex.org/S4306401776","display_name":"Apollo (University of Cambridge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I241749","host_organization_name":"University of Cambridge","host_organization_lineage":["https://openalex.org/I241749"],"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":"Conference Object"},{"id":"pmh:doi:10.17863/cam.94488","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference Object"},{"id":"doi:10.17863/cam.94488","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.94488","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"article"}],"best_oa_location":{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10171973","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10171973/","pdf_url":"https://discovery.ucl.ac.uk/id/eprint/10171973/1/2205.04202.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"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":"     In:  2023 IEEE International Conference on Soft Robotics, RoboSoft 2023.  (pp. pp. 1327-1333).  IEEE: Singapore. (2023)     ","raw_type":"Proceedings paper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1163077078","display_name":"RoboPatient - Robot assisted learning of constrained haptic information gain","funder_award_id":"EP/T00519X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6210605162","display_name":null,"funder_award_id":"EP/T00519X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6420568034","display_name":null,"funder_award_id":"828818","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320338336","display_name":"H2020 Future and Emerging Technologies","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4376605565.pdf","grobid_xml":"https://content.openalex.org/works/W4376605565.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W2053614949","https://openalex.org/W2063507564","https://openalex.org/W2073677587","https://openalex.org/W2097770951","https://openalex.org/W2101667962","https://openalex.org/W2135485145","https://openalex.org/W2318613964","https://openalex.org/W2559655401","https://openalex.org/W2621077460","https://openalex.org/W2736652053","https://openalex.org/W2741086304","https://openalex.org/W2782435507","https://openalex.org/W2784238521","https://openalex.org/W2792360281","https://openalex.org/W2801487100","https://openalex.org/W2843252114","https://openalex.org/W2884288731","https://openalex.org/W2913446864","https://openalex.org/W2959105467","https://openalex.org/W2963315649","https://openalex.org/W2968169371","https://openalex.org/W2977811412","https://openalex.org/W2999072533","https://openalex.org/W3002768791","https://openalex.org/W3036251821","https://openalex.org/W3037969311","https://openalex.org/W3043049019","https://openalex.org/W3100609498","https://openalex.org/W3105455841","https://openalex.org/W3121328874","https://openalex.org/W3129877783","https://openalex.org/W3133349997","https://openalex.org/W3194906540","https://openalex.org/W3204719635","https://openalex.org/W4226069573","https://openalex.org/W6712884540","https://openalex.org/W6811224628"],"related_works":["https://openalex.org/W2097933059","https://openalex.org/W2361682757","https://openalex.org/W1571161833","https://openalex.org/W3167406254","https://openalex.org/W1769418564","https://openalex.org/W3037969311","https://openalex.org/W3213242382","https://openalex.org/W2102605209","https://openalex.org/W2889840829","https://openalex.org/W2994782193"],"abstract_inverted_index":{"Soft":[0],"robots":[1],"are":[2,12,19,63,88],"typically":[3],"approximated":[4],"as":[5],"low-dimensional":[6],"systems,":[7],"especially":[8],"when":[9],"learning-based":[10],"methods":[11],"used.":[13],"This":[14,130],"leads":[15],"to":[16,24,48,110,145],"models":[17,52,62],"that":[18,34,102],"limited":[20],"in":[21,65],"their":[22],"capability":[23],"predict":[25],"the":[26,119,122,136,147],"large":[27],"number":[28],"of":[29,53,77,83,118,138,150],"deformation":[30],"modes":[31],"and":[32,81,121,125,141],"interactions":[33],"a":[35,45,54,85,91,133],"soft":[36,55,92,97,139,152],"robot":[37,56],"can":[38,107],"have.":[39],"In":[40],"this":[41],"work,":[42],"we":[43],"present":[44],"deep-learning":[46],"methodology":[47],"learn":[49],"high-dimensional":[50],"visual":[51],"combining":[57],"multimodal":[58],"sensorimotor":[59],"information.":[60],"The":[61,79],"learned":[64],"an":[66,105],"end-to-end":[67],"fashion,":[68],"thereby":[69],"requiring":[70],"no":[71],"intermediate":[72],"sensor":[73],"processing":[74],"or":[75],"grounding":[76],"data.":[78],"capabilities":[80],"advantages":[82],"such":[84,104],"modelling":[86],"approach":[87,106],"shown":[89],"on":[90],"anthropomorphic":[93],"finger":[94],"with":[95],"embedded":[96],"sensors.":[98],"We":[99],"also":[100],"show":[101],"how":[103],"be":[108],"extended":[109],"develop":[111],"higher":[112],"level":[113],"cognitive":[114],"functions":[115],"like":[116],"identification":[117],"self":[120],"external":[123],"environment":[124],"acquiring":[126],"object":[127],"manipulation":[128],"skills.":[129],"work":[131],"is":[132],"step":[134],"towards":[135],"integration":[137],"robotics":[140,143],"developmental":[142],"architectures":[144],"create":[146],"next":[148],"generation":[149],"intelligent":[151],"robots.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}
